Has your iPhone ever been repaired for Touch ID issues? Seems like that error is a hardware error and has affected people attempting to upgrade iOS based on the few articles I read associated with that error (53). If you are still under warranty you may need to contact Apple if further attempts to update won't allow you to move forward.
Again, if you are still under warranty I would suggest contacting Apple. It's possible that they may still offer assistance outside of the warranty for iOS installation issues but I'm not sure.
Contact Apple if you still have the 90 days free phone assistance (assistance over the phone).
Or you can try this: Press the power and volume up button at the same time and keep them pressed until the phone reboots and starts again.