Lever escapement: 1800
The lever escapement, invented by Thomas Mudge in 1759 and improved by Josiah Emery in 1785, in this century replaced other escapements until from 1900 on it was used in almost every watch made. In this escapement the escape wheel pushed on a T shaped 'lever', which was unlocked as the balance wheel swung through its center position and gave the wheel a brief push before releasing it. The advantages of the lever was that it allowed the balance wheel to swing completely free during most of its cycle; due to 'locking' and 'draw' its action was very precise; and it was self-starting, so if the balance wheel was stopped by a jar it would start again.