uasm is the module which actually does save and restore. You can use it as standalone command to copy data. uasm manual does contain some examples and more details on it.

Oldish technical bulletin 135 contain some examples with scanner and uasm. I will quote one example here:
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To recover a single filename from a volume, run one of these commands:

scanner -s save_set_id device_name | uasm -rv filename or scanner -s save_set_id device_name | uasm -rv -m source=dest filename

The m option of uasm indicates that the recovered file should be mapped (relocated) from the source to the destination directory.
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Obviously, you have endless possibilities here. As of I don't know which version with scanner you can use -x option to call uasm directly for what is passed by scanner command. To quote scanner manual:
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Extracting a save set for /usr and relocating to /mnt:

scanner -S 637475597 /dev/nrst8 | uasm -rv -m /usr=/mnt
or
scanner -S 637475597 /dev/nrst8 -x uasm -rv -m /usr=/mnt

Extracting all save sets from client mars and relocating to /a:
scanner -c mars /dev/nrst8 -x uasm -rv -m/=/a
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