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In Ubuntu 16.04 LTS, after the initial install with
sudo apt install virtualbox virtualbox-guest-additions-iso virtualbox-ext-pack
I also had to:
sudo usermod -a -G vboxusers $USER
Then I could enable USB 2/3 support in the machine settings.
What the virtualbox-ext-pack actually does, is download the required files from http://download.virtualbox.org/virtualbox and prompt you to accept the license before installing.
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