Zamora is currently facing five months out of action with an ankle injury.
Kemp said: "I think everyone commiserates after an unfortunate injury like that, particularly as Bobby was arguably playing the best football of his career and knocking on the England door.
"It's been well documented that we tried and narrowly failed to sign Bobby once upon a time for Stoke when the Icelanders were in charge.
"I can tell you we came mightily close and Bobby, who was at West Ham at the time, was definitely up for it. Sadly, it didn't happen and we both went our separate ways."