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Richard Simmons died accidentally due to complications from recent falls and heart disease, according to his family. The news was confirmed by his brother Lenny Simmons, who tells People magazine he received a call from the L.A. Coroner’s office.

The 76-year-old fitness icon was found dead in his home on July 13th, just a day after celebrating his birthday. While the cause of death was initially deferred pending further testing, the coroner’s office has now determined that there was no foul play involved.

Simmons, known for his energetic workout videos and infectious enthusiasm, had been dealing with health issues in recent years. He had spoken openly about his struggles with anxiety and depression, and had largely withdrawn from public life.