In this article, we present a comprehensive scheme for the quality assessment of compressed vibrotactile signals with human assessors. Inspired by the multiple stimulus test with hidden reference and anchors (MUSHRA) from the audio domain, we designed a method in which each compressed signal is compared to its original signal and rated on a numerical scale. For each signal tested, the hidden reference and two anchor signals are used to validate the results and provide assessor screening criteria. Differing from previous approaches, our method is hierarchically structured and strictly timed in a sequential manner to avoid experimental confounds and provide precise psychophysical assessments. We validated our method in an experiment with 20 human participants in which we compared two state-of-the-art lossy codecs. The results show that, with our approach, the performance of different codecs can be compared effectively. Furthermore, the method also provides a measure of subjective quality at different data compression rates. The proposed procedure can be easily adapted to evaluate other vibrotactile codecs.