In excerpts of her new memoir "A Song For You: My Life With Whitney Houston" obtained by People ahead of its release, Robyn opened up about her relationship with the late Grammy-winning singer, claiming they were romantically linked after meeting as camp counselors in New Jersey in 1980.
"We wanted to be together," wrote Robyn, "and that meant just us. We never talked about labels, like lesbian or gay. Whitney knows I loved her and I know she loved me. We really meant everything to each other. We vowed to stand by each other."
In an awful tragedy, Bobbi Kristina died on July 26, 2015, after being found unresponsive in a bathtub and put into a medically induced coma for six months.
"I felt empty," Robyn said upon hearing the sad news. "I felt like she finally got her mom all to herself."
While Robyn cannot be sure of what Whitney told Bobbi Kristina about their relationship, she said, "I feel in my heart that Whitney told her daughter what kind of person I am and the depths of our friendship."
"That rumor -- the speculation of our being physical -- that rumor had track shoes so there's no way a young person wouldn't say, 'Mom tell me about this.' I don't know if Whitney shared that with her daughter, when she was old enough to understand and want to know," she said. "I would hope that they had the mother-daughter conversation."
Robyn added, "I believe that Whitney told her daughter about the love and the care and the bond and the trust that we had. Whitney knew I was there for her."