Touch Id not detected on iPhone 5s after iOS 10 update

1. Make sure that you have the latest version of iOS.
2. Make sure that your fingers and the Home button are clean and dry.¹ For the Home button, use a clean, lint-free cloth to wipe off any dirt or debris.
3. Your finger should cover the Home button completely, touching the surrounding metal ring. While Touch ID is scanning, you shouldn't tap too quickly or move your finger around.
4. If you're using a case or screen protector, make sure it doesn't cover the Home button or the surrounding ring.
5. Go to Settings > Touch ID & Passcode and make sure that iPhone Unlock or iTunes & App Store is on, and that you've enrolled one or more fingerprints.
6. Try enrolling a different finger.
7. If you can't enroll any of your fingers, take your device to an Apple Retail Store or Apple Authorized Service Provider, or contact Apple Support.

same issue, not possible to reset

tried direct restore gave no access to apple servers.

manualy reset and program backup

ID touch will even not start up, keeps showing config can not finished, try again

retry is the same.

Today this issue was solved by using the 10.0.02 IOS software version.

The iphone show's the message; id touch will not work on this iphone.

when entering the mode touch id, there were no messages and the vingers could be programmed as befor.