To restore the key, you need to bring 3 out of 6 persons to the so-called key ceremony, and each has to bring his smartcard and his PIN.
The same mechanism can be used to provision multiple HSMs with the same key material. But there are other means to do this. As soon as two HSM share a common secret, also known as Key Sharing Key, they are able to exchange all key material they possess in a secure manner.
Some HSM don't even bother to store the keys they generate within the bounds of their hardware. Only it's master key is stored in it's hardware, any other key is encrypted with the master key and stored on a shared filesystem.
If this sounds artificial to you, let me assure you that such procedures are in place at various companies who deal with raw credit card data, at least in Europe. The EMV committee, the PCI organization and each issuer of credit card do mandate such procedures.
And they are very strict. We once had to ship HSMs back to the vendor, because at some point they were not supervised by at least two persons. (At least the documentation thereof was missing.)