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Megalopyge lanata
a dangerous caterpillar with apparently innocent hair. But a closer look shows thousands of small hooks
Bicho de fogo,taturana, suçuarana, lagarta de fogo
Also called Puss Moth Caterpillar.
Megalopygidae, Megalopyge lantana.
This would be the adult:
http://www.guianensis.fr/images/Megalopy...
As you indicated quite a nasty and stingy caterpillar. Be aware!!