the act of forceful sexual stimulation, that is consentual between both parties.
He pinned me down and controlled raped me, and i loved it
Controlled rape is where two parties consentually agree to create and plan a rape between the parties. This rape is in a controlled environment and both parties know the outcome will be safe and controlled.
"Jane" had a fantasy of being raped, but wanted it done safely where she knew she would not be harmed in a controlled rape environment. So Jane and "John" pre-arranged for John to sneak in her house while she slept and pretend to rape her. Reinacting a real rape scene.