Ray Cusick, the man responsible for the Dalek designs on "Doctor Who," has died at the age of 84.

According to BBC News, Cusick died of heart failure in his sleep after battling an illness. He is survived by two daughters and seven grandchildren.

Cusick created the "Doctor Who" villains in 1963 after Ridley Scott had to pass, the designer told The Mirror. They've been a part of the series ever since.

According to an interview Cusick gave The Mirror in 2005, the way the Daleks move was inspired by a salt or pepper shaker. "We went to lunch in the canteen and I was scribbling on the back of napkins the ideas of the Daleks," he said. "I picked up what could have been a salt pot and moved it around the table. I said, 'It moves like that, without any arms or legs. The design was already partly on paper and partly in my head at the time."

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