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The Paralympian, who is known for competing in sprint and cycling events, was diagnosed with multiple sclerosis in 2014.
While we already saw her keep up with the rest of the able-bodied contestants in Sunday's premiere episode, speaking ahead of the show, Cox explained how she didn't think she could do the show because of her condition.
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“That actually was one of my biggest fears and one of the reasons I probably didn’t want to do the show, because I didn’t want to be that person that would be exempt from loads of trials," she told RadioTimes.com.
“I’ve always been a person who is more about what I can do rather than what I can’t do, but I have spoken with the team and we talked about ways in which we can adapt things and ways in which we can make sure I can do the trials without having to miss opportunities.
“So there’s things in place so that I can do the trials, which is great. And it’s great that the team have worked so closely with me to make sure that I won’t have to feel like my disability is holding me back."
In Sunday night's episode, while Cox did not take part in the trial which only included Richard Madeley and Frankie Bridge, she still had to undergo a challenge on her way to the castle.
Alongside Snoochie Shy, Louise Minchin, Matty Lee and Bridge, Cox ended up in the winning team and enjoyed a warm meal and a bed for the night.
Meanwhile, Madeley, Naughty Boy, Danny Miller, David Ginola and Arlene Phillips headed for the Castle Clink.
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