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Acronicta americana
Most of North America
These caterpillars have been known to cause a mild allergic reaction in some people, a rash across the area that came into contact with the hairs. It is unlikely you will get a rash if you allow the caterpillar to crawl across your hand or lightly brush up against the hairs accidentally. However, if you have sensitive skin, it is probably best to leave them alone entirely.
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I also put up a pic of the American dagger moth