Smokey Robinson on The Jim Henson Hour.
Smokey Robinson (b. 1940) is a Motown singer and songwriter.
Robinson guest starred in episode 107 of The Jim Henson Hour, where he sang "Just to See Her" and "Jump (For My Love)" with the Muppet cast.
He appeared on Sesame Street with a letter U, singing "U Really Got a Hold on Me," a spoof of his 1962 song "You've Really Got a Hold on Me." He also appeared in a segment with Telly to sing "It Takes Time." (YouTube)