Matthew Henson was the first African American to reach the north pole.
Yes He worked a bit with the late Muppet creator Jim Henson and colleague Frank Oz, but he shies away from bragging about being close.
Jim Henson died in 1990.
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According to Muppet Wiki http://muppet.wikia.com/wiki/Jim_Henson Jim Henson died May 16, 1990 of a rare bacterial infection.