Thanks for letting me know it can work. This motivated me to investigate the issue further and I've found the solution

By USB filter I meant the USB Device Filter in the VM settings. It allows for devices to be automatically connected/forwarded to the guest once they have been connected to the host.
If somebody is having the same problem (on a Windows host):
I had to install the VirtualBox Extension Pack from
https://www.virtualbox.org/wiki/Downloads on my host system, then enable the option "Enable USB 2.0 (EHCI) Controller" in the VM settings (in the USB menu). Before installing the Extension Pack, shut down the guest OS. First of all, you will not be able to enable the option while the VM is in Saved state so you'll have to restart it anyway, and second, it made my Saved state unresumable (is that a word?) and in the end I had to discard my Saved state in order to access the VM again.