Create a new file (as root)
sudo gedit /etc/udev/rules.d/50-android.rules
with the following content
SUBSYSTEM=="usb", SYSFS{idVendor}=="0bb4", MODE="0666"
Make sure that the text after {idVendor} is the same as the device id found when using the lsusb command. Save and exit the editor
To make execution of the rule possible, perform a chmod
sudo chmod a+rx /etc/udev/rules.d/50-android.rules
To make the rule active, restart udev
sudo /etc/init.d/udev restart