Jerry Nelson, a puppeteer with Sesame Street for more than four decades, has died. He was 78. Nelson was best known for voicing the numbers-obsessed Count von Count, but was behind dozens of beloved characters including Snuffleupagus, Sherlock Hemlock, Camilla the Chicken and Kermit’s nephew Robin. Nelson also played Gobo Fraggle on the Jim Henson series Fraggle Rock, and worked on several Muppet movies.

A statement on the Sesame Workshop website expressed the impact Nelson had on the long-running children’s series: “He will forever be in our hearts and remembered for the artistry in his puppetry, his music, and the laughter he brought to children worldwide. We will miss his extraordinary spirit and the joy he brought to our Street.”

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