Rob Lowe exposed himself, touched himself and groped his former nanny several times, she alleges in a lawsuit filed Monday in Santa Barbara, Calif.

The lawsuit, filed by Jessica Gibson, says Lowe "placed his hand inside Gibson's pants" several times from about September 2005 to around January 2008. The suit also alleges the actor grabbed Gibson's behind without her consent in December 2007, two months before she quit working for Lowe and his wife in February.

Gibson also says Lowe's wife Sheryl walked around naked, "completely exposing herself," and that Lowe repeatedly asked Gibson to touch him, showed her pornographic images on his computer and asked her to give him a massage and tell him dirty stories, TMZ.com reported.

The former nanny claims she feared Lowe, 44, would "attempt to further sexually assault her," but also says she thought conditions would get better.

"I always thought it would be different when I went back, but it was not," Gibson said in the lawsuit. "I stayed as long as I did because of the children and because I needed a job."

Gibson is suing the Lowes for sexual assault and battery, sexual harassment, retaliation, unpaid off-the-clock work, overtime wages and unpaid meal periods and asking for damages in excess of $50,000, TMZ reported.

Last week, Lowe sued three former employees, including Gibson. He said she demanded $1.5 million to remain silent about the abuse allegation, which his attorney dismissed as "outrageous" and "untrue."

Appearing on the "Today" show Tuesday along with her lawyer, attorney to the stars Gloria Allred, Gibson said she never blackmailed Lowe for $1.5 million and claimed she didn't call the cops despite the alleged sexual battery during her seven years on and off with the Lowes because she "loved the children, and I needed the job."

Click here to watch.

In a statement read on "Today," Lowe's lawyer Larry Stein said, "An investigation of dozens of present and former employees has failed to find one single person to verify her allegations. The allegations in the complaint are simply untrue."

Allred said the Lowes tried to "hide behind" the confidentiality agreements that Gibson signed, and used that as an excuse to not properly pay her. Allred also told The Associated Press that Lowe filed his lawsuit after his attorneys saw "the original content of our suit."

"They may have thought their pre-emptive strike would intimidate our client," Allred said Tuesday. "I can assure them it will not."

Last week, Lowe and his wife filed a complaint in a Los Angeles Superior Court asking for at least $1 million in damages and charging another nanny, Laura Boyce, with violating a confidentiality agreement, defamation and infliction of emotional distress on the former "West Wing" star, his wife and two sons.

Boyce was hired to take care of their sons for most of 2007 before she quit in November, according to the complaint.

Click here to read Jill Dobson's On the Scene blog post about the lawsuit.

The court papers make no specific reference to what information Boyce passed along, or to whom, only that Boyce had "betrayed their trust and engaged in a scheme to hurt the Lowes by spreading malicious lies" both during and after she served as nanny.

Lowe is appearing on the ABC show "Brothers and Sisters" and was in the films "Wayne's World," "St. Elmo's Fire" and "The Outsiders."

The Associated Press contributed to this report.

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