The infamous theoretical physicist and innovator Stephen Hawking died at age 76 in his home in Cambridge, England,  according to his family.

“He was a great scientist and an extraordinary man whose work and legacy will live on for many years,” his children Lucy, Robert and Tim said in a statement. “His courage and persistence with his brilliance and humour inspired people across the world. He once said, ‘It would not be much of a universe if it wasn’t home to the people you love.’ We will miss him forever.”

At age 21, Hawking was diagnosed with amyotrophic lateral sclerosis (ALS), a disease that effects the nervous system, weakening muscles and impacting physical function. Although doctors did not expect him to live to see age 25, he lived with the fatal disease for over 50 years.

Eventually, a severe attack of pneumonia forced him to breathe through a tube and communicate through an electronic voice synthesizer.