Some new documention has been written from scratch. It is for the upcoming alpha 7 release and Blender 2.62, and can be found on the new MH site. The following topics are covered:
Export from MakeHuman http://makehuman.org/node/167
MHX (MakeHuman eXchange to Blender) http://makehuman.org/node/241
MakeTarget http://makehuman.org/node/223
MakeClothes http://makehuman.org/node/228
Something about the MakeRig script is also there, but an example needs to be added before it is complete.