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Doug Martin 's family is shedding more light on the ex-NFL star's death ... revealing the 36-year-old privately struggled with mental health issues over the years -- and they were actively trying to get him help prior to his passing.

Martin's former agency -- Athletes First -- shared a statement on behalf of the family on Monday ... which explained how Martin's parents had contacted local authorities earlier in the night for "medical assistance." Gallery Launch Gallery Getty

The family said Doug became "overwhelmed and disoriented" ... which led him to leave the home and enter a neighbor's residence two doors down the street, where he was then taken into custody.

Oakland Police said responding officers had a "brief struggle" with Martin during his detainment and he become

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