He seems to think he has a magical power to turn a no into a yes with some touching. Like the incident the other day with the legs, he probably doesn’t even see that as assault he just thinks his forplay skills will immediately override my no and I’ll be into it .
As pp have said, no, he doesn't think he has a magical power to turn a no into a yes. He doesn't think he's some Casanova who makes panties drop with a wink and a cheeky grin, because if that was the case he wouldn't have had to pin your legs, forcibly prise them apart, and force himself on you.
He doesn't think that women want their legs wrenched apart so he can penetrate them digitally without any preparation or care, after they've already said no to sexual activity - he understands that's sexual assault, not foreplay.
What he knows, is that he has the physical power to pin you down and ignore your no, and then violate you however he wants. And so that's what he does to you, on a regular basis.
I do think it's very important to try not to think of him as some terminally stupid, totally oblivious rogue, who somehow doesn't realise that he's violently assaulting and terrorising his wife on a regular basis.