Bob McGrath, original human star of 'Sesame Street', has died at age 90

• Bob McGrath, an original human cast member on "Sesame Street" has died at age 90.
• McGrath "died peacefully at home, surrounded by his family," according to a statement released by his kids.

Bob McGrath, best known for his starring role as the human character Bob Johnson on "Sesame Street," has died at age 90.

"Hello Facebook friends, the McGrath family has some sad news to share," read a statement posted to Facebook on Sunday by McGrath's children. "Our father Bob McGrath, passed away today. He died peacefully at home, surrounded by his family."

McGrath, a musician and children's author, was featured on the children's show from 1969 until 2016. An estimated 74 million Americans are "graduates" of the show, having watched at least one episode, according to the Corporation for Public Broadcasting. His passing prompted a massive outpouring from friends and fans of the show online.

"A founding cast member, Bob embodied the melodies of Sesame Street like no one else, and his performances brought joy and wonder to generations of children around the world," read a statement by the Sesame Workshop, the nonprofit behind 'Sesame Street' posted to Twitter. "We will be forever grateful for his many years of passionate creative contributions to Sesame Street and honored that he shared so much of his life with us."

McGrath, a father of five, is survived by his wife Ann Logan Sperry.