"RIP, CharlesBradley. Thank you for the inspiration & for sharing your soul. You will be greatly missed. - Team Otis," he wrote.
An extended statement was shared on Bradley's Facebook page, which said, "Mr. Bradley was truly grateful for all the love he's received from his fans and we hope his message of love is remembered and carried on."
Earlier this month, it was announced that he had cancelled his tour as he was diagnosed with stomach cancer last fall.
Charles Edward Bradley was born on November 5, 1948, in Gainesville, Fla., to a single mother.
He was raised by his grandmother until he was 8, when his mother returned and moved with him to Brooklyn with her.
By his early teens, he was largely homeless, living on subway trains and in old cars, wherever he could find shelter.
Bradley went on to find work through the Job Corps program, moving between Virginia, New Jersey, Maine and upstate New York, and eventually found his way to California.
He soon began performing Brown's songs as Black Velvet while also working as a handyman. (ANI)