For the record, I'm having the same issue as the OP with Lucid with a backported 2.6.35-28 kernel and a Samsung scx-4623fw printer hooked up via USB. Same symptoms - lsusb hangs until the printer is unplugged, devices aren't recognized, etc. dmesg output includes a bunch of device descriptor errors:
[ 603.091961] usb 7-1: new full speed USB device using ohci_hcd and address 9
[ 618.241335] usb 7-1: device descriptor read/64, error -110
[ 633.521986] usb 7-1: device descriptor read/64, error -110
I suddenly started having a bunch of USB issues (including complete system locks whenever I plugged in a logitech USB mic) around early march with the stock lucid kernel. Everything was fine before that.
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