The Untitled (How Does It Feel) star was scheduled to hit the stage at Carnegie Hall alongside Ed Sheeran and Aloe Blacc on Thursday (01Oct15), but he underwent treatment for an undisclosed ailment on Tuesday (29Sep15) and has been ordered by his doctor "to refrain from any strenuous activity for the next two weeks".
A representative from the singer's record label RCA says, "(D'angelo is) disappointed at missing an opportunity to pay homage to Mr. Withers, who he considers a true legend and inspiration."
Reacting to the news, Withers wished D'Angelo a speedy recovery in a statement, which reads: "Aw man, hope D'Angelo recovers quickly from whatever malady has befallen on him. I will miss his version of Use Me.
"I was so looking forward to seeing him throw down with the super band that (keyboardist) Greg Phillinganes put together for this event. Come on, D'Angelo! Get well, buddy!"
According to the New York Times, the 41 year old has also cancelled his gig at the Afropunk festival in Atlanta, Georgia on Sunday (04Oct15), so he can concentrate on making a full recovery.