The 'Cold War' singer, who played several concert dates with Winehouse in Brazil earlier this year, told Vibe that she was honoured to be able to perform alongside the 'Back to Black' star and felt an immediate kinship with her.
Monae said: "At our first meeting, she was very shy, a sweet girl. Her first words to me were, 'It's so nice to meet you finally. I'm shy; you're a shy girl like me, huh?' She was so giving: She even bought me a swimming suit that she thought I'd like.
"I was honoured then, and I am now, that I had the opportunity to share the same tour and stage with Amy this year in Brazil. Each night she came out onstage, she performed effortlessly."
Winehouse was found dead at her Camden, North London flat on Saturday at the age of 27 by a security guard. A cause of death is yet to be determined after an initial post-mortem.
While it has been reported that Winehouse's unfinished third LP could receive a posthumous release, producer Salaam Remi has insisted that no tracks have been completed and no plans made for such a project.
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Watch live footage of Amy Winehouse performing 'Tears Dry On Their Own' in 2008 below: