From Muppet Wiki

Blair Underwood (b. 1964) is a television and film actor who was well-known in the late 1980s for his role as Jonathan Rollins on L.A. Law. He has also appeared on Sex and the City, and starred in the short-lived series LAX with Heather Locklear and Paul Leyden. He recently had a featured role in the film Madea's Family Reunion.

In 1990, Underwood appeared on Sesame Street, playing with Elmo and counting to 16. (EKA: Episode 2822)

He was included that season in the celebrity version of "Monster in the Mirror".