I believe you can access the emu drive via SCSI from your home computer.. There are some serious warning about this operation in the manual, but That's one way.. Of course you need a SCSI card in your computer..
Another way is to make use of the good ol' slow Midi SDS (sample dump standard) and dump the sample to software in you computer... Then using a sample converting utlity (ie. convert, or Wave-2 for Windows) you can convert the file to different formats...(Shareware programs available on the net)
I also am aware of the SMDI protocol is which an advanced version of SDS, except it uses the SCSI bus.. But I'm not on the up & up with using it.....