diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 0bc3d1efa17..c7865f2f8de 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -714,6 +714,12 @@ struct tcb_s
   FAR struct mqueue_inode_s *msgwaitq;   /* Waiting for this message queue      */
 #endif
 
+  /* Robust mutex support *******************************************************/
+
+#if !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_PTHREAD_MUTEX_UNSAFE)
+  FAR struct pthread_mutex_s *mhead;     /* List of mutexes held by thread      */
+#endif
+
   /* Clean-up stack *************************************************************/
 
 #ifdef CONFIG_PTHREAD_CLEANUP
@@ -796,12 +802,6 @@ struct pthread_tcb_s
 
   pthread_addr_t arg;                    /* Startup argument                    */
   FAR void *joininfo;                    /* Detach-able info to support join    */
-
-  /* Robust mutex support *******************************************************/
-
-#ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
-  FAR struct pthread_mutex_s *mhead;     /* List of mutexes held by thread      */
-#endif
 };
 #endif /* !CONFIG_DISABLE_PTHREAD */
 
diff --git a/sched/pthread/pthread.h b/sched/pthread/pthread.h
index 82c9bd8a614..f2fd4157bcf 100644
--- a/sched/pthread/pthread.h
+++ b/sched/pthread/pthread.h
@@ -121,7 +121,7 @@ int pthread_mutex_take(FAR struct pthread_mutex_s *mutex,
                        FAR const struct timespec *abs_timeout, bool intr);
 int pthread_mutex_trytake(FAR struct pthread_mutex_s *mutex);
 int pthread_mutex_give(FAR struct pthread_mutex_s *mutex);
-void pthread_mutex_inconsistent(FAR struct pthread_tcb_s *tcb);
+void pthread_mutex_inconsistent(FAR struct tcb_s *tcb);
 #else
 #  define pthread_mutex_take(m,abs_timeout,i)  pthread_sem_take(&(m)->sem,(abs_timeout),(i))
 #  define pthread_mutex_trytake(m)             pthread_sem_trytake(&(m)->sem)
diff --git a/sched/pthread/pthread_cancel.c b/sched/pthread/pthread_cancel.c
index ab64a4e77e2..02b8087dd3f 100644
--- a/sched/pthread/pthread_cancel.c
+++ b/sched/pthread/pthread_cancel.c
@@ -39,7 +39,7 @@
 
 int pthread_cancel(pthread_t thread)
 {
-  FAR struct pthread_tcb_s *tcb;
+  FAR struct tcb_s *tcb;
 
   /* First, make sure that the handle references a valid thread */
 
@@ -52,7 +52,7 @@ int pthread_cancel(pthread_t thread)
       return ESRCH;
     }
 
-  tcb = (FAR struct pthread_tcb_s *)nxsched_get_tcb((pid_t)thread);
+  tcb = nxsched_get_tcb((pid_t)thread);
   if (tcb == NULL)
     {
       /* The pid does not correspond to any known thread.  The thread
@@ -64,7 +64,7 @@ int pthread_cancel(pthread_t thread)
 
   /* Only pthreads should use this interface */
 
-  DEBUGASSERT((tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) ==
+  DEBUGASSERT((tcb->flags & TCB_FLAG_TTYPE_MASK) ==
                TCB_FLAG_TTYPE_PTHREAD);
 
   /* Check to see if this thread has the non-cancelable bit set in its
@@ -73,7 +73,7 @@ int pthread_cancel(pthread_t thread)
    */
 
   sched_lock();
-  if ((tcb->cmn.flags & TCB_FLAG_NONCANCELABLE) != 0)
+  if ((tcb->flags & TCB_FLAG_NONCANCELABLE) != 0)
     {
       /* Then we cannot cancel the thread now.  Here is how this is
        * supposed to work:
@@ -88,7 +88,7 @@ int pthread_cancel(pthread_t thread)
        *  immediately, interrupting the thread with its processing."
        */
 
-      tcb->cmn.flags |= TCB_FLAG_CANCEL_PENDING;
+      tcb->flags |= TCB_FLAG_CANCEL_PENDING;
       sched_unlock();
       return OK;
     }
@@ -96,21 +96,21 @@ int pthread_cancel(pthread_t thread)
 #ifdef CONFIG_CANCELLATION_POINTS
   /* Check if this thread supports deferred cancellation */
 
-  if ((tcb->cmn.flags & TCB_FLAG_CANCEL_DEFERRED) != 0)
+  if ((tcb->flags & TCB_FLAG_CANCEL_DEFERRED) != 0)
     {
       /* Then we cannot cancel the thread asynchronously.  Mark the
        * cancellation as pending.
        */
 
-      tcb->cmn.flags |= TCB_FLAG_CANCEL_PENDING;
+      tcb->flags |= TCB_FLAG_CANCEL_PENDING;
 
       /* If the thread is waiting at a cancellation point, then notify of the
        * cancellation thereby waking the task up with an ECANCELED error.
        */
 
-      if (tcb->cmn.cpcount > 0)
+      if (tcb->cpcount > 0)
         {
-          nxnotify_cancellation(&tcb->cmn);
+          nxnotify_cancellation(tcb);
         }
 
       sched_unlock();
@@ -126,7 +126,7 @@ int pthread_cancel(pthread_t thread)
    * same as pthread_exit(PTHREAD_CANCELED).
    */
 
-  if (tcb == (FAR struct pthread_tcb_s *)this_task())
+  if (tcb == this_task())
     {
       pthread_exit(PTHREAD_CANCELED);
     }
@@ -141,7 +141,7 @@ int pthread_cancel(pthread_t thread)
    * function will be unable to unlock its own mutexes.
    */
 
-  pthread_cleanup_popall((FAR struct tcb_s *)tcb);
+  pthread_cleanup_popall(tcb);
 #endif
 
   /* Complete pending join operations */
diff --git a/sched/pthread/pthread_exit.c b/sched/pthread/pthread_exit.c
index 740bec88ad5..b77f2c8a5cc 100644
--- a/sched/pthread/pthread_exit.c
+++ b/sched/pthread/pthread_exit.c
@@ -124,7 +124,7 @@ void pthread_exit(FAR void *exit_value)
 #ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
   /* Recover any mutexes still held by the canceled thread */
 
-  pthread_mutex_inconsistent((FAR struct pthread_tcb_s *)tcb);
+  pthread_mutex_inconsistent(tcb);
 #endif
 
   /* Perform common task termination logic.  This will get called again later
diff --git a/sched/pthread/pthread_mutex.c b/sched/pthread/pthread_mutex.c
index 01b3d37d1c1..5648a7ddc24 100644
--- a/sched/pthread/pthread_mutex.c
+++ b/sched/pthread/pthread_mutex.c
@@ -57,30 +57,16 @@
 static void pthread_mutex_add(FAR struct pthread_mutex_s *mutex)
 {
   FAR struct tcb_s *rtcb = this_task();
+  irqstate_t flags;
 
   DEBUGASSERT(mutex->flink == NULL);
 
-  /* Check if this is a pthread.  The main thread may also lock and unlock
-   * mutexes.  The main thread, however, does not participate in the mutex
-   * consistency logic.  Presumably, when the main thread exits, all of the
-   * child pthreads will also terminate.
-   *
-   * REVISIT:  NuttX does not support that behavior at present; child
-   * pthreads will persist after the main thread exits.
-   */
+  /* Add the mutex to the list of mutexes held by this pthread */
 
-  if ((rtcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
-    {
-      FAR struct pthread_tcb_s *ptcb = (FAR struct pthread_tcb_s *)rtcb;
-      irqstate_t flags;
-
-      /* Add the mutex to the list of mutexes held by this pthread */
-
-      flags        = enter_critical_section();
-      mutex->flink = ptcb->mhead;
-      ptcb->mhead  = mutex;
-      leave_critical_section(flags);
-    }
+  flags        = enter_critical_section();
+  mutex->flink = rtcb->mhead;
+  rtcb->mhead  = mutex;
+  leave_critical_section(flags);
 }
 
 /****************************************************************************
@@ -100,47 +86,37 @@ static void pthread_mutex_add(FAR struct pthread_mutex_s *mutex)
 static void pthread_mutex_remove(FAR struct pthread_mutex_s *mutex)
 {
   FAR struct tcb_s *rtcb = this_task();
+  FAR struct pthread_mutex_s *curr;
+  FAR struct pthread_mutex_s *prev;
+  irqstate_t flags;
 
-  /* Check if this is a pthread.  The main thread may also lock and unlock
-   * mutexes.  The main thread, however, does not participate in the mutex
-   * consistency logic.
+  flags = enter_critical_section();
+
+  /* Remove the mutex from the list of mutexes held by this task */
+
+  for (prev = NULL, curr = rtcb->mhead;
+       curr != NULL && curr != mutex;
+       prev = curr, curr = curr->flink)
+    {
+    }
+
+  DEBUGASSERT(curr == mutex);
+
+  /* Remove the mutex from the list.  prev == NULL means that the mutex
+   * to be removed is at the head of the list.
    */
 
-  if ((rtcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
+  if (prev == NULL)
     {
-      FAR struct pthread_tcb_s *ptcb = (FAR struct pthread_tcb_s *)rtcb;
-      FAR struct pthread_mutex_s *curr;
-      FAR struct pthread_mutex_s *prev;
-      irqstate_t flags;
-
-      flags = enter_critical_section();
-
-      /* Remove the mutex from the list of mutexes held by this task */
-
-      for (prev = NULL, curr = ptcb->mhead;
-           curr != NULL && curr != mutex;
-           prev = curr, curr = curr->flink)
-        {
-        }
-
-      DEBUGASSERT(curr == mutex);
-
-      /* Remove the mutex from the list.  prev == NULL means that the mutex
-       * to be removed is at the head of the list.
-       */
-
-      if (prev == NULL)
-        {
-          ptcb->mhead = mutex->flink;
-        }
-      else
-        {
-          prev->flink = mutex->flink;
-        }
-
-      mutex->flink = NULL;
-      leave_critical_section(flags);
+      rtcb->mhead = mutex->flink;
     }
+  else
+    {
+      prev->flink = mutex->flink;
+    }
+
+  mutex->flink = NULL;
+  leave_critical_section(flags);
 }
 
 /****************************************************************************
diff --git a/sched/pthread/pthread_mutexinconsistent.c b/sched/pthread/pthread_mutexinconsistent.c
index eb50056d543..d5d7c0abbad 100644
--- a/sched/pthread/pthread_mutexinconsistent.c
+++ b/sched/pthread/pthread_mutexinconsistent.c
@@ -71,7 +71,7 @@
  *
  ****************************************************************************/
 
-void pthread_mutex_inconsistent(FAR struct pthread_tcb_s *tcb)
+void pthread_mutex_inconsistent(FAR struct tcb_s *tcb)
 {
   FAR struct pthread_mutex_s *mutex;
   irqstate_t flags;
@@ -80,7 +80,7 @@ void pthread_mutex_inconsistent(FAR struct pthread_tcb_s *tcb)
 
   sched_lock();
 
-  /* Remove and process each mutex from the list of mutexes held by this task */
+  /* Remove and process each mutex held by this task */
 
   while (tcb->mhead != NULL)
     {
diff --git a/sched/task/exit.c b/sched/task/exit.c
index 5bb9b1c4a05..fed287abfa7 100644
--- a/sched/task/exit.c
+++ b/sched/task/exit.c
@@ -93,6 +93,12 @@ void exit(int status)
   pthread_cleanup_popall(tcb);
 #endif
 
+#if !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_PTHREAD_MUTEX_UNSAFE)
+  /* Recover any mutexes still held by the canceled thread */
+
+  pthread_mutex_inconsistent(tcb);
+#endif
+
   /* Perform common task termination logic.  This will get called again later
    * through logic kicked off by _exit().  However, we need to call it before
    * calling _exit() in order to handle atexit() and on_exit() callbacks and