Jerry Nelson (born July 10, 1934) started his puppeteering career with Jim Henson in 1970, as a puppeteer on Sesame Street. Nelson has performed as a principal puppeteer in numerous Muppet productions including The Muppet Show, Fraggle Rock, and various films and specials. He is best know for such characters as Count von Count and Herry Monster on Sesame Street; Floyd Pepper and Robin the Frog on The Muppet Show; and Gobo Fraggle and Pa Gorg on Fraggle Rock.

While Nelson did not puppeteer on The Dark Crystal, he provided the voices of skekSo (the dying emperor) and skekZok (the high priest).

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