The fitness icon died of complications from recent falls and heart disease, his family said.
Richard Simmons' loved ones have announced the fitness icon’s cause of death.
Estey continued, “The toxicology report was negative other than medication Richard had been prescribed.

Richard Simmons.Harry Langdon/Getty
“How do you deal with loss?
It takes a toll on your heart,” he read.
“Some shed many tears, others stare at the sky.

Richard Simmons.Tina Fineberg/AP
It’s so hard to say goodbye.
Simmons also reflected on his legacy in that same interview.
“I have spent time just reflecting on my life.
All of the books I wrote, the videos.
I never was like, ‘Oh look what I’ve done.’
My thing was, ‘Oh, look how many people I helped.'”
“I think there’s a plan to proceed, and that’s about all I know right now.
Additionally, Simmons had agreed to an interview with Diane Sawyer before he died, the broadcast journalisttold PEOPLE.
Love, Richard.”