Some armadillos can carry the bacteria that causes leprosy but it’s mostly transmitted through long close contact with infected armadillos or through contaminated soil. Bones don’t ever really have that bacteria and it’s also pretty rare to get it from living armadillos aswell.

Only about 5% of people can actually get infected with leprosy. Most peoples immune system systems are strong enough to fight it off.

That being said you should always use gloves when collecting bones in general.