This is likely the result of a bad/dead nand partition or nand chip. Its a hardware error that is not easy or repairable without very good knowledge of the actual chip and microsoldering skills... Nothing to do with usb connectivity or antivirus.
Inside the .IPSW there is a buildmanifest.plist which can be modified to possibly disable FDR (touch ID sensor checks) and restore using libmobiledevice and terminal commands" idevicerestore.exe xxx.IPSW", OR commands" idevicerestore.exe -e -d XXX.ipsw" and of course the current corresponding firmware.. Use -l command to download and install your firmware automatically , in my case would be: "idevicerestore.exe -l iPhone7,2_9.1_13B143_Restore.ipsw" , for iphone 6 ( 7,2) IOS 9.1 firmware. Just an idea.. Not yet working but still testing and getting several different errors..