do you know if those buttons are analog? if so, i am not sure what to do.
if they are standard contact switches, then you can solder little wires right to where the original contacts the board. the "tape" you described sounds like the contact film they put over buttons for extending life (i assume). you can gently scrape off the film and see the copper below, and then soldering is a breeze.
as for buttons to now use, i would probably use micro contact switches. the same kind that are in tv remotes. i think they are 5mm square. very small, but maybe you could mount the original xbox button above it. would be fun to do, but difficult. if you locate he microswitches just right, you may not need a larger button over it.
now for the motor voltage, do you have a voltmeter? the only way i know of finding the max voltage to the motor, is to put your meter on it, plug it in, turn on the xbox, start a game, get whaled on, and look at the meter. it shouldn't be more than 5v, but unless someone else can chime in, i don't know the voltage, but that would be easy to do as well.
have fun. if i had an xbox controller i would take it appart to help further, but alas, its the only console i don't have.
