D’Angelo, whose cool tunes and one hot music video made him one of the legends of neo-soul music, has died, according to a statement from his family. He was 51.

The expressive singer made just three albums, including his 1995 debut, Brown Sugar, but retreated from the public after each. He had been battling cancer, according to a statement from his family.

The son of neo-soul icon D’Angelo is speaking out after the singer’s death at age 51 from pancreatic cancer. Michael D’Angelo Archer II is grieving not only the loss of his father, who passed away on Tuesday, but also his mother, singer Angie Stone, who died just seven months ago.

D’Angelo, the Grammy-winning R&B singer recognized by his raspy yet smooth voice and for garnering mainstream attention with the shirtless “Untitled (How Does It Feel)” music video, has died.

The musician, who died this week, made work so sensual it prompted women at his concerts to howl for him to disrobe. But his artistry was always deeper than that.

D'Angelo performs at Outside Lands 2015 at Golden Gate Park in San Francisco, California. Correspondent When I showed up to Golden Gate Park on August 7, 2015 for a D'Angelo concert as a part of the Outside Lands music festival,

The captain of the giant Royal Navy battleship called his officers together to give them a first morsel of one of World War II’s most closely guarded secrets: Prepare yourselves, he said, for “an extremely important task.

R&B legend D'Angelo has died, his family confirmed to CBS News on Tuesday. The singer, whose real name was Michael D'Angelo Archer, was 51. D'Angelo's family said the Grammy-winning artist died Tuesday after a "prolonged and courageous battle with cancer."