The latest update on the medical condition of Mandela, South Africa's first black president, said his health has improved slightly from an earlier "critical" state.
Mandela, who turns 95 on July 18, has been admitted to a hospital here on June 8 with a recurring lung infection.
Mandela's "condition has improved during the course of the night," South African President Jacob Zuma said yesterday after visiting the country's tallest statesman for a second time in 24 hours in the Mediclinic Heart Hospital.
Ahead of the visit by Obama, America's first black President, his deputy national security advisor Ben Rhodes said he would be speaking to the legacy of Mandela.
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Yesterday, Obama described Mandela as "a hero for the world". "His legacy will linger on through the ages," he said, while on a visit to Senegal.
Obama's visit to South Africa will include a stop at Robben Island, where Mandela spent a majority of his life in prison.
Obama will be accompanied by his family, senior and advisors and a business delegation. This is his second visit to South Africa, but his first as head of state.
Zuma's spokesperson Mac Maharaj said, "South Africa values its warm and mutually beneficial relationship with the US immensely. This is a significant visit which will take political, economic and people to people relations between the two countries to a higher level, while also enhancing cooperation between US and the African continent at large."