I can't make a legal interpretation or make recommendations but here are few things to consider:
50 Volts is where the requirements begin however there is quite a bit of language about being careful of hazards that still may exist.
The NFPA 70E Handbook explains
130.4(C) Equipment Operating at Less than 50V as: "
under normal conditions, electrical conductors energized at a voltage less than 50 volts do not present an electrical shock hazard." "
A thermal hazard can exist in circuits that have a significant capacity to deliver energy, even when the voltage level is less than 50 volts."
This could be from a large battery string for example.
Table 130.4(E)(a) Shock Protection Approach Boundaries "Not Specified" is listed for less than 50 volts.
Here is a letter of interpretation from OSHA regarding the subject:
OSHA Letter of InterpretationCaution! Personal opinion ahead! From a career that has involved a lot with standards committee work, they have a difficult time excluding items directly unless it is 100% never a problem.
i.e. 50V? don't worry about itIf someone is injured at less than 50 Volts (which has happened with large battery strings - small burn on finger) it could blow back. So the next best thing is imply it may not be a problem but surround it with enough language that it could be a hazard under the right circumstances.