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It is difficult for this worm to damage your skin with its fluff, normally when I clean I always see this kind of animals and by habit I put them in a safe place away from any human who wants to harm it, and by experience I know that it is difficult that its fluff can hurt you, but maybe accidentally you rub against it and it burns you with its fluff.
---------------------photo Courtesy of @bryandeep --------------------
But as a precaution when you see it try to place it in a safe place, this worm will have to do some work in the earth and most of us do not know it, it is always under the wet leaves and only comes out when we are cleaning because we disturb it, it does not attack anyone and less seeks to mess with you, it is a very fast animal and moves at an incredible speed, we hope to always take care of the species of this planet and we can learn what its functions are so we can take advantage of its powers.