"The death of Mr Norman Oosterbroek ocurred on Monday night and Miami-Dade police is investigating the incident,'' said Javier Baez, a police spokesman.The incident happened after neighbours saw the former bodyguard naked, trying to enter a house in the Cutler Bay States subdivision south of Miami.
A woman screamed, her husband came out and he and Oosterbroek exchanged blows while she called the police.
Police were unable to subdue Oosterbroek, so they used a Taser, immobilising him with an electric charge.
Oosterbroek was pronounced dead at a nearby hospital.
The Miami Herald says Oosterbroek was 43, and had recently moved to the area from New York with his wife and two small children.
He began his career as a bodyguard for Mandela, and later protected celebrities like Lady Gaga, Beyonce and Jay-Z.
This is the second death in less than a month in which Miami police used a Taser to control a suspect.
An 18-year-old Colombian, Israel Hernandez, died in early August after being shocked with a Taser while painting a graffiti.
