A prisoner wearing a single handcuff and a belt restraint escaped custody Tuesday night at a Milwaukee airport, authorities said.

Robert Johnson Jr., 39, was being transported from Laredo, Texas, to Rock County, Wisconsin, by  U.S. Corrections, a private correctional contractor, according to a press release from the Milwaukee County Sheriff.

Robert Johnson escaped custody Nov. 9 at Milwaukee Mitchell International Airport

Robert Johnson Jr. escaped custody Nov. 9 at Milwaukee Mitchell International Airport.

Johnson, of Rockford, Illinois, allegedly gave his handlers the slip at about 9:30 p.m. at the Milwaukee Mitchell International Airport while wearing a single handcuff and a "RIPP" belt restraint, officials said.

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The circumstances of his escape were not publicly disclosed. Johnson, who has an extensive criminal record, is charged with burglary and aggravated assault.

Robert Johnson Jr. was wearing a single handcuff when he absconded, officials said.

Robert Johnson Jr. was wearing a single handcuff when he absconded, officials said.

Johnson was wearing a black jacket, a white T-shirt and ripped blue pants when he absconded. He has a tattoo of a star under his left eye.

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Officials said anyone who runs into Johnson should use "extreme caution" and contact 911 immediately.

U.S. Corrections did not respond to a request for comment.