(CNN) -- The man known as the voice of Elmo is denying claims he had a inappropriate relationship with an underage boy.

Sesame Street Workshop has found the allegations against Kevin Clash "unsubstantiated."

In June, the workshop heard from a then 23-year-old man who claimed he was just 16-year-old when his relationship with then 45-year-old puppeteer began.

Clash insists the allegations are false and was granted a leave of absence from Sesame Street to take action and protect his reputation.

In a statement to TMZ, Clash said his relationship with the accuser was "between two consenting adults and I am deeply saddened that he is trying to make it into something it was not."

Sesame Street's investigation into the claims found no instances of wrong-doing, but they did discipline Clash for exercising poor judgment and violating company policy.

CNN