How to get low level information from a USB key?

I am running Debian/Linux, and I would like to know what low level tools are available to print detailed information about a USB key (eg. USB 1.0 vs USB 2.0…). Neither dmesg, nor lsusb have proved to be useful so far.

I am interested in the key itself, not the connector as in here. For instance I'd like to compare two USB keys where the plastic is white.

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