Post-human species

[Jeremy]

Take a Hobbit of Flores and remodel it to the gliding lemur.

[Simon_Jester]

As for calling them "pygmy angels"; I think they'd probably look more like some kind of creepy fairy. Really small, with really skinny limbs and probably a prominent bone structure.

On the arms, legs, and possibly head, anyway. The torso would be quite heavily muscled, because that's where the flight muscles are. So you'd be looking at spindly-limbed, barrel-chested midgets.

[Starglider]

What if we turned the 'humanoid' concept on its side a little and didn't give them arms, and instead gave them a good range of motion in their tiny legs, and flexible manipulators for feet (maybe not to the level of human hands, but it'd be something)?

Another possibility is to allow the flight surface to detach from the main limb, i.e. have weak wings that for flight connect to the strong arms via bone spurs at the wrist. Or you could split the limb into two at the elbow, the wing part folds, the arm part manipulates.

However I still think the best idea is the one I used in Zor's RAR; create a two meter long swan, and replace the head/neck with a somewhat streamlined humanoid torso.