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The actor told NBC's Lester Holt he has been coping with the condition for several years.
"I can live with it, in a sense," said Glover, 79. "I'm sure as it advances, things are going to be different and changing."
Glover said the neurodegenerative disease has affected his speech and slowed his movement, but that his family help him.
"They've got my back," he said.