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Smokey Robinson 's newest sexual battery accuser is a man who claims the Motown singer once grabbed the guy's hand and tried to force it onto his erect penis.

Smokey is being sued by four Jane Does claiming they used to work as housekeepers for the music star and his wife, Frances Gladney Robinson ... and now two more alleged victims want to join the suit, a fifth Jane Doe and a John Doe. Getty

According to new legal docs, obtained by TMZ, the male accuser claims he started working for the Robinsons at their Chatsworth residence around 2013 ... he says he would clean and detail their cars early in the mornings and on numerous occasions Smokey came outside wearing only his underwear and would touch and fondle his erect penis in clear view of John Doe.

The guy claims "Smokey

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