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In the 1980s, Wagstaff bought a top-floor loft at 35 West 23rd Street for Robert, where he resided, also using it as a photo-shoot studio. He kept the Bond Street loft as his darkroom. In 1988, Mapplethorpe selected Patricia Morrisroe to write his biography, which was based on more than 300 interviews with celebrities, critics, lovers, and Mapplethorpe himself. Mapplethorpe died at the age of 42 due to complications from HIV/AIDS in a Boston hospital on March 9, 1989. John's Cemetery, Queens in New York City, at his mother's grave-site, etched "Maxey".
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Nearly a year before his death, the ailing Mapplethorpe helped found the Robert Mapplethorpe Foundation, Inc. His vision for the Foundation was that it would be "the appropriate vehicle to protect his work, to advance his creative vision, and to promote the causes he cared about". Since his death, the Foundation has not only functioned as his official estate and helped promote his work throughout the world, but has also raised and donated millions of dollars to fund medical research in the fight against AIDS and HIV infection. In 1991 the Foundation received the Large Nonprofit Organization of the Year award as part of the Pantheon of Leather Awards. The Foundation donated $1 million towards the 1993 establishment of the Robert Mapplethorpe Residence, a six-story townhouse for long-term residential AIDS treatment on East 17th Street in New York City, in partnership with Beth Israel Medical Center. The residence closed in 2015 citing financial difficulties. The Foundation also promotes fine art photography at the institutional level. The Foundation helps determine which galleries represent Mapplethorpe's art.
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In 2011, the Robert Mapplethorpe Foundation donated the Robert Mapplethorpe Archive, spanning from 1970 to 1989, to the Getty Research Institute.