Yapp.js: Build large client-side applications in a structured way
friendcode.github.io
friendcode.github.io
Google has documented this method here: https://developers.google.com/webmasters/ajax-crawling/
I have made a service that takes care of this for javascript sites that don't want to mess with maintaining this system themself. http://www.BromBone.com
Depending on how many pages you want indexed, I would pre-index your website with Googlee (periodically) and cache the results to disk, so you can quickly serve the HTML to Google and other bots.
Feel free to shoot me an email at aaron@friendco.de if you need any help.
Based off this article http://backbonetutorials.com/seo-for-single-page-apps/