Katherine Marie Helmond (July 5, 1929 β February 23, 2019) was an American film, theater, and television actress, and director. Over her five decades of television acting, she was known for her starring role as ditzy matriarch Jessica Tate on the ABC prime time soap opera sitcom Soap (1977β1981) and her co-starring role as feisty mother Mona Robinson on Who's the Boss? (1984β1992). She also played Doris Sherman on Coach and Lois Whelan, the mother of Debra Barone, on Everybody Loves Raymond. Sh...