Ah, thank you @svim for those very interesting and informative links!
My take from those two links is that they are mainly relegated to portable USB devices whose firmware has been compromised.
Connecting a compromised USB stick that was written to infect/manipulate an Android device could be a security issue. It's been quite some time since I've even used a USB thumbdrive, with cloud storage being available / prevalent nowadays, but I have connected one to my Android devices a few times in the past.
I was thinking more along the lines of a straight USB cable connecting the Android device to a PC and how / if that might be vulnerable--I'm guessing Ami_K will have to reply back to elaborate a bit 
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Which USB connection mode is most secure when USB is not required?
