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Born in the early days of the Roman Empire, Claudius managed to stay alive when so many of his male relatives met violent ends in the paranoia and power struggles of the period.
In childhood he developed limb weakness, shaking of his head and unclear speech and was kept out of the way and excluded from public office. He was never taken seriously as a threat and was left alone to focus on his books and histories, until, the death of Caligula thrust him reluctantly into the role of emperor. He generally ruled well, disproving the doubters.
Many suggestions have been made as to what ailed Claudius but the most likely explanation is that he had a non-progressive form of dystonia possibly from a head injury or brain infection in childhood.