The old opensc manual is [file:old/opensc.html included in the distribution] and also available online.
The old opensc manual in spanish is [file:old/opensc-es.html included in the distribution] and also available online.
The guide on initializing a smart card with PKCS#15 format is [file:old/init_perso_guide.html included in the distribution] and also available online. There is also a text version ([file:old/init_perso_guide.txt included]/online).
Olaf Kirch held a talk about smart cards on the Linux Kongress 2003. His paper is available online.
Daniel Struck wrote a technical guide on OpenSSL user authentication with Apache using x.509 certificates on smart cards which is also available online.