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While Jon and Kate Gosselin continue to feud publicly and in court, their children are the ones truly suffering, according to Jon Gosselin.

In last night's episode of Oprah Winfrey's " Where Are They Now," Gosselin sat down with Winfrey to talk about his eight children and how because of the family's former reality show "Jon and Kate Plus 8," they didn't get to grow "up normally, like I grew up."

Gosselin, who now works as a waiter in eastern Pennsylvania, fears that the show has isolated his children - twins Cara and Mady, 13, and sextuplets Alexis, Hannah, Aaden, Collin, Leah and Joel, 9.

"Yes, they have trust funds, and they're taken care of educationally . Great," he said. "But developmentally, they have problems with their peers, and they have problems with talking to other people."

Read: Jon Gosselin Says He Has 'No Cooperation' With Kate Gosselin

In fact, he thinks growing up on television has negatively affected any moral compass his kids should or might have.

"They have problems with wants and needs and manners and morals and what's right and what's wrong," he said. "I think more so than someone who grows up off TV."

"Jon and Kate Plus 8? aired from 2007 to 2011, with Jon Gosselin pretty much leaving the show in 2009 after his divorce.

"It just became stressful on the kids and stressful on me," he said.

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In addition to voicing concern for his children, Gosselin also denied rumors that he was in any way unfaithful to his ex-wife.

"The most common misperception [is] that I cheated on my wife, that I left my family," he said. "But my family knows the truth."