Inchworms, or Geometers, are the larva of anyone of around 1,400 moths in the United States. They are difficult for most of us to identify simply because they look very similar. Perhaps someone at the local office of your state universities Cooperative Extension Service might be of more help.

Mandy, any chance that you know what kind of tree (or other plant) this caterpillar was hanging out on? That might help with an identification.

I studied Geometrids in one of my senior level entomology courses. ID can be challenging in person, let alone from a couple of photographs.

I know of no species that would sting or burn. However, you may have been scratched by the sharp thoracic legs or even the clasping abdominal prolegs. It's possible that you were nibbled, too, just a little sample to see if you were edible.