Oh, I've done the robe thing to no avail myself...that hurts doesn't it? I've found that I have had to STOP doing stuff like that with expectations attached to it. When you went out there in nothing but a robe, you HOPED he'd take notice and take action (in some way)...with his past track record did you really think he would? I know when I did that, I set myself up for disappointment...I actually did it to myself.
Mind if I ask what happens when you take charge and have your way with him? My H isn't used to that in a woman and the times I've done that with him, it really gets his attention.
