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First follow the following steps to prepare your system to share USB with the virtual machines in VirtualBox (Personal Use and Evaluation License version):

Be sure you installed the closed source VirtualBox (the one from the Software Manager is OK);
Install the Guest Additions (on the virtual machine menu Devices > Install Guest Additions);
Give your user the proper permissions (Menu > Administration > Users and Groups > Manage Groups), by adding the group "vboxusers" to your user (using the "Properties" button).

After this is done, you can simply add USB devices to your virtual machine by right clicking over the USB icon on the bottom of the virtual machine screen.