Yes, taking off a condom without permission counts as sexual assault, but the laws depend on where you are.
In Canada, the Supreme Court settled this in R. v. Kirkpatrick (2022). They ruled that if you agreed to use a condom and the other person removes it, you never gave consent. This changed how courts view the act. It is no longer just fraud. It is part of the sexual activity itself.
The United States handles it differently. Most states use civil statutes instead of criminal assault charges. Maine and California have specific laws allowing victims to sue for damages and injunctions. California calls it sexual battery. Other states are starting to pass similar civil causes of action.
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