Katherine Marie Helmond ( born July 5 , 1929 ) is an American film , theater and television actress , voice artist and director , who played Emily Dickinson on `` Meeting of Minds '' , as well as fictional television characters , for which she is best known , including Jessica Tate on `` Soap '' , Mona Robinson on `` Who 's the Boss ? ''
Katherine Marie Helmond ( born July 5 , 1929 , Galveston , Texas ) is an American film , theater and television actress , who portrayed Emily Dickinson on `` Meeting of Minds '' , as well as fictional characters , for which she is best-known , such as Jessica Tate on `` Soap '' , Mona Robinson on `` Who 's the Boss ? ''