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Osbert was a resident of Stockbridge who - in 1199 - saw the demons and helped Nyssa from a boar trap. He was in fact a Rutan who had duplicated the original Osbert.
In 1899, Osbert's memories remerged in a descendant of Osbert during the performance of a Mummers play. This led to the Fifth Doctor and Nyssa investigating 1199. (AUDIO: Castle of Fear)