The musician, who had a string of hits including "Ain't No Sunshine", "Lovely Day", "Just The Two Of Us", and "Lean On Me" has died of heart complications aged 81.

The Guardian reports that his family (wife Marcia Johnson and two children Todd and Kori) said in a statement, "We are devastated by the loss of our beloved, devoted husband and father. A solitary man with a heart driven to connect to the world at large, with his poetry and music, he spoke honestly to people and connected them to each other. As private a life as he lived close to intimate family and friends, his music forever belongs to the world. In this difficult time, we pray his music offers comfort and entertainment as fans hold tight to loved ones."

The singer/songwriter earned three Grammys, and was inducted into the Rock and Roll Hall of Fame in 2015.