The Brazil superstar finally got his wish to leave City last week when he completed an £18 million move to the Italian giants.
Robinho, who cost City £32.5 million, told The People: "Neither Hughes nor Mancini understood me.
"Perhaps they only believed in the sporting side of things but that wasn't enough for me. There was a lack of contact between the players and the club.
"It was much like an office - to training and goodbye, to a match and goodbye. I am Brazilian and I can't offer my best performance if I'm not happy in every aspect of life.
"That was my problem. I am a special footballer and I need to be happy when I'm playing.
"That was the case at Real Madrid but never at City."