I can confirm that this solution (which is essentially the same as what
xorduna posted above) does work for me.  I'm using the 2.6.27-9-generic
kernel.  All I had to do is copy the firmware file to the location
expected by the driver and rename it.  The link posted by Anshuman gives
slightly incorrect file names which may be the reason this doesn't work
on all kernel versions, but it's easy enough to find the firmware image,
and the expected file name is given in the dmesg output.

For me, I copied /lib/firmware/2.6.27-9-generic/ti_3410.fw to
/lib/firmware/ti_usb-3410.bin

This worked well enough for the /dev/ttyUSB0 file to be created when the
emulator was plugged in.  I haven't actually tested the proper
functioning of the emulator yet (I'm not really working with it these
days), but expect it should work.

Incidentally, I don't really think this bug should be closed.  This is a
useful temporary work around, not a fix.  The driver should be modified
so that it looks for the correct firmware image name.  These devices
should just work when plugged in, it shouldn't really be necessary to
copy files around like this.

Thanks,
Steve

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ti_usb_3410_5052 driver doesn't load some devices
https://bugs.launchpad.net/bugs/231276
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