Re: "seriously sexually assaulted"
"Grabbing someone may be assault but it isn't sexual assault. It's only in the workplace where this would be treated as sexual harassment: different situation, different code."
You're confusing things. Sexual assault and sexual harassment are different. In general, in the US, offensive touching of a sexual nature is considered Sexual Assault. If you grab my arm in a sexual manner, it's sexual assault. If you do the same in a non-sexual manner it would be battery.
Some examples;
You meet a woman at a club and you grab her arm to pull her in to kiss her. Sexual assault.
A woman cuts in front of you in line at the grocery store so you grab her arm. Battery.
Both could be without malice, but they could still get you arrested, depending on the situation.