Have you tried something like isobuster? It claims to be able to read sessions from multisession discs, not sure if it can handle a failed burn, but assuming it can, it'll do the job. Also not sure if you need the paid version... there is a free version though.
You seem to have a thing for pointing out that the disc is for old Macs and there is no way you could EVER read their HFS filesystem on a PC...
Try IsoBuster. It enables you to load images and extract sectors, user data etc. If some sectors are unreadble, it allows you to fill those sectors with dummy data. You can try to extract tracks with it. Current version looks like a trial version. Older versions were free
Current: http://www.isobuster.com
Try IsoBuster (http://www.isobuster.com/) to see if it can squeeze some data out of the disk. Also, you might find better results using an older DVD drive verses using a newer one. The old ones were actually better at reading.
if you have a friend, or another computer with an optical drive, you can use isobuster to rip it, then use the Windows USB Tool to create your bootable USB drive.
Assuming that the problem is that the disc isn't finalized, some quick googling suggests that maybe CDRoller or ISOBuster might be able to recover the VOB files.
I also found this article which suggest a possible way to get the files off without using paid software, but it doesn't appear to be easy.
>which emulator do you suggest I use given my experience?
You say you're familiar with NES and SNES emulators.
Why not try configuring Retroarch for NES and SNES, then use the knowledge thereby gained to configure Retroarch for Playstation?
>if I have the discs, can I make iso files/roms by using them somehow?
Yes. There are plenty of iso utilities out there, but only Isobuster can rip iso's from scratched cd's. I recommend it for this reason- it can be a life saver!
>Also I have a wired 360 controller that I'm using for my snes emulator, would i be able to use it with psx emulators?
Click start button, then type joy.cpl, then hit enter. If your controller shows up there, then your controller will work in any Windows application. If not... it can still work, it will just require more effort. ;)