In this paper, the first measurements of human vibrotactile force perception at the fingertip are presented. Eight stimuli in the frequency range of 5 to 700 Hz were delivered by a circular contactor with an area of 2.9 cm², finding lowest thresholds of 6.9 dB resp. 1 mN for a frequency of 250 Hz. Highest thresholds were determined to about 25 dB for frequencies higher than 500 Hz. A force prediction and measurement model is presented to obtain highly accurate force measurements independent of the mechanical impedance of the user.