usbmuxd_get_device_list: error opening socket! idevicerestore

Hi everybody
I'm unable to restore Iphone 4 using idevicerestore.
Here the command i'm typing
sudo idevicerestore -c iPhone3,1_6.1_10B144_Restore.ipsw i've got this result

About to restore device... 
waiting for device...
trying to connect...
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!

when i use this command

$ irecovery -s
> setenv auto-boot true
> saveenv
> reboot

my iphone reboot but i still got the same error message.

here the full message

read_file: File cache/version.xml not found
ERROR: Could not load 'cache/version.xml'.
opening device 05ac:1281...
Setting to configuration 1
Setting to interface 0:0
Found device in Recovery mode
opening device 05ac:1281...
Setting to configuration 1
Setting to interface 0:0
INFO: device serial number is DNRGLURGDP0N
Identified device as iPhone3,1
Extracting Restore.plist from IPSW
Product Version: 6.1
Product Build: 10B144
Custom firmware requested. Disabled TSS request.
Variant: Customer Upgrade Install (IPSW)
This restore will update your device without losing data.
Extracting filesystem from IPSW
[==================================================] 100.0%
Extracting iBEC.n90ap.RELEASE.dfu
Sending iBEC (281028 bytes)...
[==================================================] 100.0%
opening device 05ac:1281...
Setting to configuration 1
Setting to interface 0:0
Sending AppleLogo...
Extracting applelogo@2x.s5l8930x.img3
Sending AppleLogo (15172 bytes)...
[==================================================] 100.0%
Extracting 048-0785-001.dmg
Sending RestoreRamDisk (9914692 bytes)...
[==================================================] 100.0%
Extracting DeviceTree.n90ap.img3
Sending RestoreDeviceTree (74436 bytes)...
[==================================================] 100.0%
Extracting kernelcache.release.n90
Sending RestoreKernelCache (7409924 bytes)...
[==================================================] 100.0%
About to restore device... 
waiting for device...
trying to connect...
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
usbmuxd_get_device_list: error opening socket!
hm... could not connect
ERROR: Unable to open device in restore mode
ERROR: Unable to restore device

If i put my iphone in DFU mode i'v got the following message.

ERROR: Unable to connect to device in recovery mode
ERROR: Unable to connect to recovery device
ERROR: Unable to place device into recovery mode

can someone help me please thank in advance. ;-)