THIS MACHINE (ONLY VERY VERY OCCASIONALLY) KILLS.
BE SENSIBLE - DON'T LET IT
Under MOST conditions a 24 VDC supply cannot cause the lethal conditions shown.
Under exceptional circumstances, it can.
DO NOT be scared of such supplies.
I have used similar for 50+ years without problem - as have many other people.
But be aware that a combination of high humidity, damp hands, maybe cuts or blood on hands MAY cause problems. It's very unusual. But, always treat anything "energetic" with respect.
In day to day life you can be killed by an angle-grinder, skillsaw, power-drill (it's hard), stationary bus (it happens), not looking both ways when crossing the road (4 times in China), bicycle (on foot or riding), skateboard (same), and much more.
All these are hazards of modern society. Add the power supply to the list. it's well down in danger from angle grinders and bicycles - but don't leave it off.
From this page that Ken Grimes cited.
When a current exceeding 30 mA passes near the heart of a human body, the person concerned is in serious danger if the current is not interrupted in a very short time.
The protection of persons against electric shock in LV installations must be provided in conformity with appropriate national standards, statutory regulations, codes of practice, official guides and circulars etc.
Relevant IEC standards include: IEC 61140, 60364, IEC 60479, IEC 61008, IEC 61009 and IEC 60947 series.
The graph that Ken published from that page needs careful inspection.
Under MOST conditions a 24 VDC supply cannot cause the lethal conditions shown.
Under exceptional circumstances, it can.
DO NOT be scared of such supplies. I have used similar for 50+ years without problem - as have many other people.
But be aware that a combination of high humidity, damp hands, maybe cuts or blood on hands MAY cause problems. It's very unusual. But, always treat anything "energetic" with respect.
Here is the same chart with some annotations:

LETHALITY AND MUSCLE CONTRACTION 'KEY' BELOW.
This is for hand to foot shocks.
Hand to hand is easier on a bench with grounded surfaces.
Note the added red and blue lines and green circles.
Ventricular fibrillation will usually kill you if IMMEDIATE medical attention is not available ("crash box").
At 50 mA you hit the "may die" (5% VF chance) at 1 second.
You'll USUALLY survive this.
You are well into the muscle contraction effects area but can probably pull free.
DC is harder to self release from than AC.
At 100 mA you hit "may die" at half a second, 50/50 chance of death at still under a second, and "probably die" at under 2 seconds. Muscle contraction is substantial and well into the maybe-cannot-let-go zone by now. Believe me :-) :-(.
At 200 mA maybe / 50-50 and probably arrive at about 1/4 second, 1/2 second and 1.5 seconds.
You don't want to try that.
And it hurts! (as a bonus)
At 500 mA - forget it (50 / 200 / 400 ms).

Notes:
A 24 V bench supply is almost certain to do you know harm at all.
But in worst case conditions 24 VDC MIGHT kill you.
VERY unusual. Not unknown alas. Documented cases can be found.
Helicopters have 36 VDC batteries. Fatalities have occurred.
Wet, salty, cuts, blood, ... make it more likely.
I've spent 50+ years working with DC at 50V or less and never had a substantial shock from it. At 50 VDC on a humid day on a telecom wiring frame I could feel nuisance shocks on the back of my hands. I'd not 'grab' 50V hand to hand - but would expect contacts across the back of one hand to annoy at best. usually.
So - 24 VDC - treat with care. Expect it never to hurt you. Know that worst case it could.
I had a friend who took a 12V LED lamp flounder fishing. Standing in salt water with the lamp on a aluminum pole he managed "muscle lockup" when something in the lamp shorted.
12 Volts!!! But, standing in salt water. No harm done. But a lesson.