Wade Robson says he hopes opening up about Michael Jackson's alleged sexual abuse will encourage other "victims" to come forward.The choreographer filed legal documents on May 1 asking for money from the Michael Jackson Estate in compensation for childhood molestation at the hands of the late pop star - who died of acute Propofol intoxication in June 2009 - and says he wants to inspire others to speak out.He told TMZ: "I want to inspire other people to speak their truth."If my coming forward and speaking the truth can help, honestly, one [person] to gain courage to speak their truth and begin the healing process then that would really be more than I could ask."Speaking earlier this week, Wade said he "was scared psychologically and emotionally completely unable and unwilling to understand that it was sexual abuse."This is not a case of repressed memory. I never forgot one moment of what Michael did to me."He performed sexual acts on me and I performed sexual acts on him. "It was complete manipulation and brainwashing. He would role-play and train me for these scenarios."There is no excuse for what he did to me, but he was a troubled man...The image that one presents to the world is not the whole explanation of who someone is. Michael Jackson was yes, an incredibly talented, artist with an incredible gift. He was many things. And he was also a child sexual abuser."While Wade - who was one of the witnesses at Michael's child molestation trial in 2005, and his testimony, along with those of his sister and mother, were said to be instrumental in the 'Billie Jean' star's acquittal - has been called a liar by Michael's friend and family for the new allegations, he insists he is telling the truth.The married father of one said: "The idea that I would make all of this up and put my wife, my son, my entire family through this extremely stressful and painful experience all for the sake of money? That's completely incomprehensible. I've lived in silence and denial for 22 years...In order to fully heal, I have to speak the truth and I have to speak the whole truth."View the gallery for more photos of Robson, as well as Michael Jackson's transformation over the years.