Robson has asked a California judge to allow him to make a late creditor's claim against Jackson's estate after alleging he was abused by the singer between the ages of seven and 14 at the superstar's California and Las Vegas homes.
His claims have been dismissed by the Jackson estate lawyer Howard Weitzman, who pointed out Robson took to the stand at the singer's 2005 child molestation trial to deny he had ever been abused by the pop star.
Robson has now given a candid interview to America's Today show explaining his reasons for filing the suit, and alleges he was manipulated by Jackson throughout his life.
He says, "I feel strong, like this is the right thing to do, because this is my truth. One thing I want to clear up is that this is not a case of repressed memory. I never forgot one moment of what Michael did to me, but I was psychologically and emotionally unable and unwilling to understand that it was sexual abuse... He sexually abused me from seven years old until 14. He performed sexual acts on me and forced me to perform sexual acts on him."
Detailing his time on the stand at the 2005 trial, he adds, "I said what I understood and said what I was able to say. From seven years old, from day one of the abuse, Michael told me that we loved each other and that this was love and it was an expression of our love. And then you follow that up with, 'If you ever tell anyone what we're doing, both of our lives and our careers will be over.'"
Robson, who has worked with Britney Spears and Justin Timberlake, reveals a series of breakdowns following the birth of his son led him to go public with his claims.
He adds, "I'm a father, I became a father two and a half years ago to this beautiful baby boy, and during the first 18 months of his life, I collapsed into two nervous breakdowns, terrifying nervous breakdowns. At that point I had no idea what was going on and for the first time in my life I began to realise that my completely numb, unexplored feelings to what Michael did to me might be a problem and maybe I needed to speak to someone about it."
However, lawyer Tom Mesereau, who represented the late Thriller hitmaker at his 2005 trial, has rubbished Robson's claims, telling Tmz.com, "This is a pathetic and an obvious grab for publicity and an attempt to put pressure on the estate to pay him money... Why call yourself a creditor if it's not about money?"