Voice of Elmo New Lawsuit : We Dry Humped

  Kevin Clash -- the voice of Elmo -- did NOT have sexual intercourse with his 2nd accuser while Cecil Singleton was underage ... but they did engage in some dry-humping ... this according to Singleton.

Cecil just held a media conference about the lawsuit he filed against Clash in New York -- describing the allegations against the former "Sesame Street" star.

According to Singleton, his sexual relationship with Clash began when he was 15 and Clash was an adult ... and initially lasted for 2 weeks. But they picked things up a while later.

Singleton claims that while they never had sexual intercourse, the two did engage in several sexual activities together ... including "groping, masturbation, intense kissing, dry-humping."

Singleton says they had sexual intercourse years later ... when Cecil was an adult.

Cecil says he broke off the initial relationship because he felt Kevin liked him too much -- and Cecil didn't think he could handle the relationship.

We broke the story ... Cecil is suing Clash for more than $5 million in damages ... claiming he's suffering psychological and emotional issues caused by the relationship.

[UPDATE]
8:20 AM PT -- Clash Has officially resigned from "Sesame Street" today in the immediate wake of this new lawsuit.

8:40 AM PT -- The accuser's lawyer has filed new court docs, in which the date of the alleged abuse has been changed from 1993 to 2003. The accuser also says he is currently 24-years-old ... and chalks up the mistake to a typo.

Kevin Clash -- known as the voice of Elmo -- is facing NEW allegations that he had a sexual relationship with a SECOND underage boy ... TMZ has learned.

The accuser -- who is now in his 30s -- has filed a lawsuit against Clash ... claiming the two met on a gay phone chat line back in 1993 ... when the accuser was 15 years old and Clash was 32.

In the suit, the accuser reveals his name -- Cecil Singleton. His attorney also provided TMZ with a photo.
Among the allegations, Singleton claims, "[Clash] trolled gay telephone chat line rooms to meet and have sex with underage boys."

In the lawsuit, filed in federal court in NYC, Singleton claims Clash "groomed [the accuser] to gain his trust by, among other things, taking him to nice dinners and giving him money."

Singleton claims while Clash was featured on "Sesame Street," he was "preying on teenage boys to satisfy his depraved sexual interests."

In the suit, Singleton claims ... although the sex occurred nearly 20 years ago, he didn't take action until now because ... he "did not become aware that he had suffered adverse psychological and emotional effects from Kevin Clash's sexual acts and conduct until 2012."

Singleton is demanding more than $5 million.

We broke the story, Clash struck a settlement with a previous accuser who initially claimed he had a sexual relationship with Kevin beginning when he was 16 years old. As part of the settlement, the accuser issued a statement recanting his claims.