United States President Barack Obama met up with the family of his personal "inspiration" Nelson Mandela, but could not meet Madiba himself due to his fragile condition.

Mandela-who has been in the hospital for the past week with a lung infection that has rendered him on the precipice of death-has improved in the past few days, according to local and international media news outlets.

But President Obama still did not want to pay Mandela a visit during his eight-day tour of Africa, as he wanted the ailing former leader to maintain "peace and comfort."

The POTUS said he would forgo "a photo-op" with Mandela, while the White House backed his decision.

"Out of deference to Nelson Mandela's peace and comfort and the family's wishes, [the Obamas] will not be visiting the hospital," a government official said. 

Instead of meeting Mandela, President Obama shook hands with some close relatives, including two daughters and a handful of grandchildren. He called Mandela's wife Graca Machel on the phone during the private meeting with the other members of Mandela's next-of-kin.

"I expressed my hope that Madiba draws peace and comfort from the time that he is spending with loved ones, and also expressed my heartfelt support for the entire family as they work through this difficult time," President Obama said, according to The Australian.

Machel answered by saying that she had "drawn strength from the support" offered by the Obama family, all of whom are currently still in Africa.

"I am humbled by their comfort and messages of strength and inspiration which I have already conveyed to Madiba," Machel continued.

Current South African president Jacob Zuma welcomed President Obama to his nation on Saturday during the American POTUS' second leg of his trip.

Zuma claimed that both Mandela and President Obama were "bound by history" by being the first black leaders of each of their lands.

"You both carry the dreams of millions of people in Africa," Zuma said.