Here's an experiment you can try to determine YOUR handheld limit...
Set up your target with lots of fine detail (a newspaper will do) at your "normal" target distance, say 10 ft.
To get your comparison shots, put your camera on a tripod, and shoot a sequence of shots in Av mode, starting with the lens wide open, and progressively closing the lens by one stop for the next shot, until you've gone through the range of apertures. It is important that in this sequence, your focus is set manually and with the most precision possible (if you have magnified life-view, use that to get the correct focus). This then gives you a sequence of shots where your focus is perfect (as good as it is going to get with your equipment), and camera shake is not an issue (unless you have a really bad tripod).
Next, take the camera off the tripod, and go through the exact same sequence, but now handholding the camera and using the usual AF method you use. Shoot from exactly the same point as you had with the camera on a tripod, aim at exactly the same point on your target. You should now have a sequence that looks like this (shutter speed is arbitrary since it is used for illustrative purposes...): f/2.0 at 1/1000, f/4 at 1/500, f/5.6 at 1/250, f/8 at 1/125, f/11 at 1/60, f/16 at 1/30, f/22 at 1/15.
Now compare the tripod/handheld shots at each setting. Hopefully, the focus will be on exactly the same point in both sets. Magnify each pair of images and see at what setting the detail starts getting blurred. Now you know the shutter speed which becomes your limit for hand-held shooting.
Note that the minimum shutter speed depends also on the focal length of the lens. The usual guide for 35mm cameras is that the minimum shutter speed is the reciprocal of the focal length, so for a 50mm lens on a 35 mm camera, that would be 1/50 sec. Since the crop bodies "magnify" the image made at any focal length, the guide here is the reciprocal of the focal length x crop factor. So if you have a crop camera (1.5x say), the same 50mm lens will have a minimum shutter speed of 1/75 sec, which would be 1/90 sec on the dial.