I just the same issue happen about an hour ago. It does seem to be related to USB 3.0 and was saying in my device manager that it couldn't identify the device (wireless headphones in my case). Switching it to USB 2.0 seemed to fix it but I still get the same error you have when trying to restart or log off.
Changing the port and logging out and back in again seems to have brought my task bar back to normal though but I haven't installed any system updates or drivers since last week so it's odd to be popping up now.