Some armadillos are naturally infected with the bacteria that cause leprosy (Hansen's disease) and it may be possible for the disease to be passed to a human, but the risk is very low. For comparison, look up zoonotic diseases of deer. They can carry all kinds of nasty stuff, but plenty of people still hunt them. Ticks are well-known vectors for a host of diseases, yet we still go into the woods, and just pull them off when we find them.
I've handled a bunch of armadillos. So far, so good. I've eaten them on at least two occasions. They're not bad, but not exceptionally good, either. I think by the time you have cleaned one and put the meat on the grill, you've already been exposed. I believe Hansen's disease is typically spread by pronged contact with an infected person, or possibly by inhalation of microscopic droplets from an infected person's cough. Your risk of catching Hansen's disease increases if you are in prolonged contact with (e.g. living with) an infected person, or you live in an area with a very high incidence of the disease. The risk of catching it from an armadillo is very low. Which is good, because they are very common where I live, and they are not very smart. You can sometimes ease right up to one of them if he is preoccupied, rooting in the leaves, and simply pick him up by the tail. I've done it. I was out hiking one day, and had settled down to eat a bite and drink some coffee (I had a thermos). I heard something in the brush, coming my way. I just sat tight, and an armadillo emerged from a yaupon thicket. I just sat there, sipping coffee and watching as he worked his way closer. He finally rammed his nose against the sole of my boot. This surprised him, probably because of the unfamiliar scent. He stopped and sat up like a groundhog, sniffing the air, then just took off like a scalded dog.
They are a Native American animal, but it is my understanding they only appeared in Florida some time in the early 20th century, which means they have been here longer than I have. They are pests, really, because of their burrows and their rooting activities, but for all that they are inoffensive and incapable of hurting a person, and they are actually very interesting animals. One of Mother Nature's children, as my dad would have said. There are plenty of them, and I am not sorry to see one killed, but I don't go out of my way to kill them.
One interesting linguistic fact that I learned from a forum member is that a lot of German immigrants moved to Texas in the 19th century, and when they first encountered armadillos, they didn't have a name for them. So they made one up. They called the armadillo panzerschwein, meaning "armored pig."
Best regards,
Notchy Bob