CAMDEN — Robert E. Yorke, 77, husband of Judith (Young) Sullivan, died July 13, 2016, at the Sussman House in Rockport, surrounded by his family. Born in Somerville, Mass., on June 23, 1939, he was the son of Lauren and Blanche (Campbell) Yorke, and received a master's degree from Boston University

A clinical social worker for the State of Massachusetts for many years, Robert advocated for proper medical services and professional care of his mentally challenged clients. He also provided corporate guardianship for those who had no family. His interest in end of life care and the "right to die with dignity" was another example of his commitment to others.

In 2014, Robert and his wife, Judith, moved from Scituate, Mass., to Camden. He was a member of the Mid-Coast Community Chorus and had many other varied interests. A talented man, he designed his own home, built boats, sang at Tanglewood and Carnegie Hall, played violin and was truly a renaissance man. He was also a member of the Traditional Small Craft Association and looked forward to rowing in the Small Reach Regatta every year.

Surviving is his wife, Judith Sullivan; his daughter, Theola Gelerman and her husband, David; three grandchildren, Noah Gelerman, Alan Wong and Olivia Gelerman, all of Camden; two brothers-in-law, Gary Young and his wife, Manoli, of Tampa, Fla., and David Young of Caribou.

A memorial gathering of family and friends will be held Sunday, Aug. 7, from 2 to 5 p.m. at 169 Belfast Road in Camden.

If desired, memorial gifts may be made to the Sussman House, c/o Pen Bay Healthcare Foundation, 6 White Street, Rockland, ME 04841.

Arrangements are with Long Funeral Home & Cremation Service.