Open an Windows Explorer window on anyones Windows PC. Go to Tools>Options>View>Show Hidden Files.
Now double click on the iPod. There should be a Folder called iPod Control. Double Click, go to Music, double click. There are now lots o folders numbered F00-F49. YOur music is in there. Copy it onto your hard drive, and then open them all in iTunes. They should show up as individual music files, and you can then transfer them as you please.
Copy all the music from the iPod control folder to a local HD, then open iTunes, go to Edit, Preferences, Advanced, tell it keep iTunes music folder organzied, copy files to iTunes music folder when adding to library, then click File, Add Folder, direct it to the iPod control folder, and it will sort it all back into directories with the correct file names. It takes a wee bit though.