He had been cared for by nephew Drew Myerscough, who found him on Saturday morning, after suffering from serious illness during the last few years.
He said "It was a love and affection that he got from Star Wars fans that kept him going, without any doubt.
"He loved meeting them, he loved receiving letters from them. He was amazed that, even after 30 odd years, the fans still basically adored him.
"He never let his size become an issue. He lived the life of a six foot man."
Baker, who was 3ft 8in tall, first played the robot character in Star Wars: A New Hope in 1977.
His niece, Abigail Shield. said: "He felt very blessed. He obviously enjoyed the time working at Star Wars, it gave him a whole new different view on his disability and it was taken as a positive thing."
"Unfortunately he was too ill to be part of the new Star Wars films. He was due to fly out to LA (for the most recent premiere) but doctors told him he was too unwell to fly. But he was consulted by certain people,"
He played the resourceful droid he was best known for, Baker also played an Ewok in the Star Wars films.
He also received a credit in last year's reboot Star Wars: The Force Awakens.
Born in 1934, Baker was told by doctors that he was unlikely to live through puberty.