It sounds like you need to add the kernel modules for usb storage or scsi to /etc/modules or /etc/modules.conf.
If the kernel does not have the required modules loaded, then it often will not recognise that a particular module is needed, and you will get the kind of errors that you are seeing.
here is a list of my /etc/modules - I have a zip100 usb drive, and a usb printer with scanner and card reader built in. all of these work 'on demand'
Code:
usb-uhci
input
usbkbd
keybdev
eepro100
es1371
parport_pc
mousedev
usb-storage
printer
NOTE: some of these modules may not be needed in your installation
enjoy!
jacks4u