Install development packages via Brew. If you're using OS X 10.12+, install osxfuse via cask as Brew suggest in error output.
brew tap homebrew/fuse
brew install --HEAD usbmuxd
brew install --HEAD libimobiledevice
brew install --HEAD ifuse
Pair your device for current host. If the "Trust" alert appeared on device, press "Trust" and run this command again.
idevicepair pair
Try iPhone FS mounting:
cd ~
mkdir iPhone
ifuse iPhone
To unmount partition use diskutil
tool:
diskutil eject iPhone