Itunes cannot restore iphone

My iphone dropped out of my pocket onto a carpeted wood deck floor while sitting in a lawn chair (approximately 15-18 inches). When I went to use it next, it wouldn't turn on. I tried a reset (home button and power button) and got a message to plug it into itunes for a restore.
I've tried restoring it probably 25 times. I've made sure all software is up to date on my computer. I've restarted my computer about 10 times. When I try to restore, it goes through all the motions and looks like it's going to work, but ultimately I get an error message (I've had several different errors: 21, 2006, 2001) from itunes that says it could not restore it. The only thing that shows up on my iphone screen is a graphic of a USB cord connecting to itunes.
I've tried all the suggestions from the error message information pages. I feel like there is just something small that I'm missing that would make this iphone work again. Any help would be greatly appreciated. ~Kelly

It's tough to determine exactly what the drop did to your device. Numerous restore errors combined with the fact that 25+ restore attempts have failed indicate that your device is not going to be easily saved. Duke of Tiers instructions are identical to what's in the article posted by roaminggonme - same goes for Yian Tyan's advice.
Could always try a different user on the computer or restoring on a different computer all together. But aside from different USB ports, disabling security software, and putting the device into recovery mode I really can't think of anything that can fix your device.

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