USB Server software can be installed on the computer with Linux OS. Kernel should be of v2.6.15 and higher. All necessary installation instructions you can find here.
To connect shared USB devices on Terminal Server you need to install RDP Client. As such Client you need to install popular open source project rdesktop v1.6 or higher.
After all above installations you need to apply the special path, that you can find at USB Server distributive in the folder rdesktop-1.6.0-path:
1. Copy usbrdr.c and usbrdr.patch to rdesktop-1.6.0 source code directory;
2. Run patch -p3 -i usbrdr.patch;
3. Compile and install rdesktop
4. Start rdesktop with '-r usbrdr' option