Jerry Juhl, 67, the Emmy Award-winning former head writer for the Muppets who provided much of the heart and soul to Jim Henson's iconic troupe of fleece and foam puppets, died Sept. 27 in a hospital in San Francisco. He had cancer.

Mr. Juhl co-wrote "The Muppet Movie," which marked the Muppets' move to the big screen in 1979. He later wrote the screenplay for "The Muppet Christmas Carol" and co-wrote "The Great Muppet Caper," "Muppet Treasure Island" and "Muppets From Space."

He also served as head writer and creative producer on the award-winning "Fraggle Rock," Henson's 1983-87 TV series about a race of small creatures that live underground.

Born in St. Paul, Minn., in 1938, Mr. Juhl fell in love with puppetry at age 9. His passion, which included building puppets and creating and performing puppet plays, continued after his family moved to Menlo Park, Calif., when he was 14.

As a theater arts major at San Jose State University, he was a puppeteer on a local children's TV show. He also served as director of the Vagabond Puppet Theater, a traveling three-person group sponsored by the Oakland parks department. There, he was joined by the teenage Frank Oz, a budding puppeteer who later performed as Miss Piggy.

In 1961, after he and Oz met Muppet creator Henson and his wife, Jane, at a puppeteer convention in Monterey, Calif., Mr. Juhl joined the Hensons as a puppeteer and writer on their local TV show in Washington, "Sam and Friends."

As the Muppets gained increasing national television exposure, Mr. Juhl worked closely with Henson in developing the sketches that were performed on "The Jimmy Dean Show" and other TV variety shows. Eventually, Mr. Juhl made the transition to writing exclusively.

"I did it for self-protection," he joked. "I never rated much [as a puppeteer], so I figured I'd better save my job by doing something else."

From the 1969 launch of "Sesame Street," Mr. Juhl spent six seasons as a writer on the classic children's show, during which he received two Emmy Awards.

From 1977 to 1981, he served as head writer of "The Muppet Show," the syndicated variety show featuring Kermit the Frog, Miss Piggy and dozens of other characters.

During his years on "The Muppet Show," Mr. Juhl received awards from the Writers Guild of America for individual episodes featuring guest stars Marisa Berenson (1978) and Liza Minnelli (1979). And in 1981, he received an Emmy for the "Dance Marathon" episode featuring Carol Burnett.

In an interview with the Seattle Times in 1996, six years after Henson's death, Mr. Juhl said the appeal of the Muppets "has something to do with the fact that it crosses over generational lines. It reminds adults of childhood and innocence. There's a sweetness we get away with without being sentimental."

And adults were kept entertained with the sharp, witty writing.

"Jim would pound on the desk and say, 'We are not doing children's puppetry here!' " Mr. Juhl recalled. "Because in the late 1950s, when he got in, puppets were for kids. He wanted to make puppetry for adults."

Looking back on his career, Mr. Juhl said: "Puppets are wonderfully magical things, but one of the most fiendishly difficult art forms we've created for ourselves. Good puppetry is amazing, but it's so difficult."

And, he added, "I don't know if it's different writing for Muppets than humans because I spent my whole career writing for Muppet characters. But I always say that with Muppets, you can't write feet."

Survivors include his wife of 40 years, Susan, and a brother.

Jerry Juhl, with Kermit the Frog on the set of "The Muppet Show" in the 1970s, won an Emmy Award as head writer of the variety series. He also received two Emmys during six years as a writer for "Sesame Street," which began in 1969.