You can't connect them directly, so you'll have to use at least one intermediate step: from iPhone to x, from x to Samsung. What exports does the iPhone (or probably) iTunes have for contacts? What imports does the Samsung have for contacts? Anything in common?
It could well be that it turns out the only solution is to type them in. The only advantage is that it's a nice occasion to clean it up.
How do I transfer my contcts from my iPhone 4 to my new Samsung Galaxy S II?