I can't get my multimeter probes into the battery area so I couldn't tell you anything beyond that.
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In the past, I've tested operating voltage, amperage, etc., by using aluminum foil.
If you are checking voltage between two separate contacts, you can:
* cut narrow strips of aluminum foil
* insert a strip between the battery contact and the Zaurus contact
* repeat for the other contact(s)
* run the foil strips to the outside of the battery compartment, ensuring that they will not touch each other
* carefully close the battery cover, such that you do not damage the foil
* I usually use tape to hold the foil in place at this point
* take measurements off the foil
I've also checked amperage this way by using scotch tape as an insulator between two strips of foil stacked together: Foil-Tape-Foil. I believe what I actually did was Foil-Tape-Foil-Tape, using the second piece of tape to secure and insulate the second piece of foil because the tape was wider than the foil. Leave an uninsulated spot on the end that you insert between the battery and Zaurus contacts so that you have one piece of foil "extending" the battery contact, and the other piece of foil "extending" the Zaurus contact. Use your multimeter to complete the circuit and measure the (milli)amps.
I haven't tried this on my Zaurus, but it worked well on my PalmOS PDA.