Robson said on the 'Today' show that he was scared psychologically and emotionally, completely unable and unwilling to realize that he was abused sexually, Contactmusic reported.
The 30-year-old said that the abuse is not a case of repressed memory and he would never forget what the King of Pop did to him.
Robson said that both he and Jackson performed sexual acts on each other.
He said that the abuse by the hands of Jackson was complete manipulation and brainwashing, and Jackson used to role-play and train him for these scenarios.
The actor also said that there is no excuse for what Jackson did to him, asserting that he was indeed a troubled man.
He also highlighted the fact that Jackson was an incredibly talented artist with an incredible gift but was also a paedophile and a child sexual abuser.
Robson added that he had lived in denial for the past 22 years but in order to heal he had to speak the whole truth.