You've posted a link indicating that you're associated with a firm that does data recovery, or did I misinterpret that?
Accordingly, I'd expect a data recovery firm to have access to hardware mechanisms that allow I/O traffic to be monitored (SAS or SATA for the newer stuff, FC or USB if you're working with that, and SCSI and IDE for the older stuff), and typically using a device known as a bus analyzer. The bus traffic typically uses known command and response formats determined by the T10 and T13 folks and by the implementors, and potentially with some extensions for device-specific additions or variations.
These (bus-specific) analyzers are standard practice when integrating a device, and I'd assume that a data recovery firm would likely be using similar techniques to investigate the device interfaces and the controller metadata in the absence of available documentation on the controller and the storage.
This is how you integrate and test a new peripheral device, after all, and (in conjunction with the metadata and the volume structures) how you'd figure out what happened to a semi-functional semi-failed device. This is also part of the underpinnings of the vendor costs of a supported device; why hardware support has value.