I've encountered these guys all my life. They are mostly small skittering puffy-stretches at a glance, but sometimes they can look like their red headed larger and snake-eating relatives at 4-5cm lengths.
They are extremely soft to the touch, as if a very light breeze just brushed off your arm hair. What I didn't know is that they are like cats in this behaviour:
House centipedes have been observed to groom their legs by curling around and grooming them with their forcipules.
Forcipules are the modified, pincer-like, front legs of centipedes that are used to inject venom into prey. They are the only known examples of front legs acting as venom injectors.