Set up USB for VirtualBox
For all supported versions of Ubuntu
sudo adduser $USERNAME vboxusers
Logout and login for this to take effect.
For persistent device connection to VM
Open VirtualBox, go to Settings for the VM, Go to USB.
Click USB+ Icon and select device from List.
This will add a Filter Spec to the List, repeat as necessary for more devices.
Start VM - Devices should appear in Guest OS, and mount or request drivers etc. as applicable for the OS.
Devices Mounted in Guest OS will be unavailable in Host OS.
For temporary device connection to VM
Insert USB Device and Wait for it to activate in Host OS.
Start or go to VM.
Right Click USB Icon in the VM Status Bar at bottom of screen, OR from Menu go Devices > USB Devices, and select desired device.
Devices should appear in Guest OS, and mount or request drivers etc as normal for the OS.