The kernel has a USB/IP client built in - the vhci-hcd virtual host controller - so an imported device is indistinguishable from real hardware: lsusb lists it and the normal in-tree driver binds.

The usbip CLI ships with the kernel tools (linux-tools-generic on Debian/Ubuntu, usbip on Fedora/Arch), and attaching needs root.

sudo modprobe vhci-hcd                    # once per boot
usbip list -r 127.0.0.1                   # what the server offers
sudo usbip attach -r 127.0.0.1 -b 1-1     # import it
usbip port                                # what is attached, and its port number
sudo usbip detach -p 0                    # unplug

The bus id is 1-1 unless the server exports several devices, which take 1-2, 1-3, ... - attach each one separately, and each gets its own vhci port.