I just solved this issue myself, and was looking for a recent thread to hook what I found on to.
For the record, I got this working on LinuxMint Felicia edn (XFCE), with a Belkin Wireless Pre-N PCMCIA card plugged into a cardholder in an ancient Dell Pentium III. (Using it to post this).
One tip I read elsewhere was to have your AP set your essid to "broadcast", which I did -- I don't know if this was necessary in my case, but it's the setting I had in place. I was able to disable broadcast later, and the connection stayed up -- but the theory was that having it broadcast helps get the initial connection.
EDIT: BEFORE I did the below, I followed the procedures on this page:
http://welcometoubuntu.blogspot.com/...i-enabled.html
These instructions also include a very helpful OFFLINE version (scroll down -- after step 16 of the first version) for getting it going, if your target machine has no other connection to the internet. Although the title says Airgo, it also applies to Belkin (that's how my Belkin identifies to lspci).
I had no issues following any of these instructions. (Well, LinuxMint doesn't install gedit as a default, so I had to use MousePad to edit text files. Other than that, easy).
Note that the instruction says to download a few packages for ndiswrapper -- on LinuxMint6, at least, they were already installed. Use Synaptic to search for "ndis", and you'll save yourself some trouble. You will probably still need to find the driver files, though. Also, as this method applies to several cards, the response you get in step 12 might look slightly different.
Once that's done, here are the commands:
mint@mint /etc $ sudo iwconfig wlan0 mode Auto
mint@mint /etc $ sudo iwconfig wlan0 key open YOURHEXKEY
mint@mint /etc $ sudo iwconfig wlan0 mode Auto
mint@mint /etc $ sudo iwconfig wlan0 essid THX1138 channel 11
[I suspect that the "key open" part was the necessary bit. Others have said that setting the essid last was necessary. I don't know if it was necessary to set the channel -- of course, match to your router channel, or just try leaving that out]
and a quick iwconfig after that showed me that it was working...
good luck!