Your router has a firewall

In FW go tools > options > advanced > firewall. Do you have the 'use UPnP' radio button checked? If not, check that button > apply > ok.

AFAIK UPnP is disabled by default in that router, so log into your router by opening your browser & typing 192.168.0.1 into the address bar > enter.

Default username for the router is admin & default password is password.

Once you're logged into the router, have a look down the left hand side of the page - under Advanced, you should see UPnP. Click on UPnP. Now check the box to turn UPnP on > apply.

Close the router pages. Restart your router & also restart FW.
Give it a few minutes & see whether the firewall icon disappears

If you still see the firewall icon after enabling UPnP, double check that FW's allowed thru your software firewall (I guess you don't have the Windows 7 firewall turned off?). Maybe try removing FW rules & then add them again.

My Netgear router is a different model to yours, but is fine with UPnP enabled. But if you're still stuck with the firewall then we can give you help with port forwarding.