Some known causes of this error are:
Bad USB drivers - Unplug all usb devices during the upgrade.
Eset Antivirus - Remove the software.
Trusteer Rapport - Credit card fraud protection software - remove the software.
Other devices or software may be at fault, remove or uninstall anything with system drivers if necessary do a clean install REFRESH/RESET to 8.1 then upgrade to 10.
Running the Upgrade from a Clean Boot might work...
https://support.microsoft.com/en-us/kb/929135
Make note of anything you disable for future reference.