It would require something above 24 volts for us to even feel the electrical charge.
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If the voltage is DC then the voltage can be even lesser, because continuous direct current(DC) can harm more than alternating current(AC).
The voltage that can electrocute human being varies depending on the resistance, it can be 230V or 100V or even 50V, 40V and 24V also. So more generally current is considered to decide electrocution.
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