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Although it is unfortunate that your dog has suffered abuse, there are steps that you can take to ease his life now.
The most important thing to do is to teach your dog to regain a sense of trust to his human counterparts. You can do this by socializing him around a wide variety of people. Start off by allowing him to interact with others on a small scale. Gradually introduce him to varied situations, people, and places.
If your dog shows overt signs of fearfulness or aggression, consult an experienced dog trainer of animal behaviorist immediately.