Here is a Wiki tutorial using the built in MH Collada exporter and the Blender importer for Collada:
http://www.makehumancommunity.org/wiki/ ... to_Blender However, you are probably best advised to install the MHX2 plugin and use that for export from MH and import into Blender. See
https://thomasmakehuman.wordpress.com/2014/10/09/mhx2/ and
https://thomasmakehuman.wordpress.com/m ... mentation/ Using MHX2 involves a little additional work up front, but there will be a lot of payoff, particularly if you want to work in Blender Cycles on the other side.
This video may have some useful information for you on MHX2 (I think):
https://youtu.be/3CCHGX-6Mtk The MHX2 stuff is at about 11:30 minutes into the video.