Hate to necro but it seems a lot of people have this problem and I wanted to share what ended up fixing the problem for me.
I tried everything in this thread and some others but what eventually made it work for me is plugging my phone into another computer and doing a back up on my brand new phone. After backing it up on a secondary computer I returned to the first, initially itunes wouldn't register my phone so I moved it from a USB 2.0 to a USB 3.0 on the front hub( yes I know this probably isn't relevant but hey it's what I did.) iTunes then recognized my phone and I tried to restore from my back up and it went flawlessly. I don't have any idea why this worked but it did, take it for whatever it's worth.
This came as a surprise at this point actually and my next move was to go into DFU mode and restore the phone and then try to restore from the back up. I received both the iPhone disconnected error as well as the iPhone back up session failed error. (Error code varied as I tried different things to solve the problem.)
Some background on my actual situation was that my phone 95% of the time would begin the restore for no more than 10 seconds and then the phone would restart and iTunes would say iPhone disconnected and cancel the restore.
Again this was a brand new phone and Apple if you are reading this I am not ruling out user error on my part. I'm not sure why this occurred but if I had to guess my first thought is that this stemmed from me doing an iCloud sync in the store before coming home and then trying to restore from a newer back up (The iCloud back up was really old and I have no idea where it came from.) Other thoughts of mine would be that I was running iOS 8.4 when I backed up the phone and maybe something has changed and caused a problem for me, but in the end I found it odd that simply backing it up and then trying to restore fixed my problem so easily. I feel almost as if the phone wouldn't restore from the back up until after it thought it had been backed up. Maybe there are reasons for safeguards like that to exist but I am far from knowledgeable in regards to theft and other devious things.
Hope this helps someone.