Zookie, I'm not so sure that this is leucostigma. The leucostigma I have seen haven't been this dark, nor have they had the orange spots and thin yellow bands like this one does. I think it would be worth checking out some more, there are other species that are darker like this gray one, and I would lean towards those more than leucostigma.
You're definitely right about the rashes---these guys have nasty urticating hairs.
White-marked Tussock Caterpillar, Orgyia leucostigma
I live in central Florida and they are all over the place this time of year. This year more then previous years for some reason.They can cause rashes in some people if handled be careful. they also look different at different ages in the cycle some have more yellow when younger.
It's some species of tussock moth caterpillar, definitely. Where did you spot this one? There are 10 species of Orgyia in North America. This one isn't O. leucostigma, so that narrows it down to 9. Check out the pictures in the link I provided and you should be able to find a similar-looking species or two.
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