keep sb.doing sth.是固定句型,ing形式表示正在发生,或过去一段时间一直发生的动作,这个动作直到Tom来到才停止,所以可以理解为是Tom使我们保持（等待）这个动作,这个动作一直在发生,所以用ing形式,而不是原形
We were waiting for Tom at ten last Sunday. He often kept us
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