You need a USB host bridge device, such as a small microcontroller with USB host mode. The kindle will see it as a host PC. It can tunnel any kind of traffic over the USB connection between the kindle and the I/O pins provided by the microcontroller.
Up until recently, USB host mode was complex and usually needed a special USB chip to support it, but recently a full USB host mode software stack (LUFA) for embedded devices was open-sourced and has been ported to ARM and AVR devices
.
LUFA USB host stack home page:
http://www.fourwalledcubicle.com/LUFA.php
AVR port of LUFA USB host stack:
http://winavr.sourceforge.net/
An AVR LUFA device:
http://hackaday.com/2011/07/30/avr-p...kii-uses-lufa/
Another option is the Kindle 3, which has an external serial port that could easily be connected to almost any little embedded processor (such as the $4.30) TI 4-3-Oh device.