Calwell man Craig Emberton, 34, has been charged with aggravated robbery and sexual assault in the third degree to which he has not pleaded.

Mr Emberton appeared via audio-visual link in the ACT Magistrates Court on Tuesday when a prosecution document tendered states that he booked an appointment with the sex worker at a Canberra unit on March 25.

Once inside, he allegedly pulled a knife and demanded money and was handed $430.

He then allegedly raped her and at one point removed the condom before deleting the call log and message history on her phone.

After he left, she went to Canberra Hospital for examination before being interviewed by police days later.

During a search warrant conducted at the defendant's house on Monday, police said they found the knife, clothing he was seen to be wearing in CCTV footage and the mobile he used to contact the sex worker.

Police said that during an interview, he admitted to meeting her with a knife to take her money.

However, he denied pulling the knife out or having sex with her.

The prosecution document states that Mr Emberton claimed he was "having financial difficulties and was too embarrassed to ask his friends and family for support".

In court, prosecutor Sam Bargwanna opposed Mr Emberton's bail application based on the likelihood of being charged with more offences and endangering the safety of the complainant and other sex workers.

Mr Bargwanna said police was concerned that "this is not the first occasion the defendant has [allegedly] done this" based on a service for sex workers reporting offences of this nature.

"The [complainant] is very anxious ... currently too scared to leave her residence," Mr Bargwanna said.

He said it seemed financial issues caused the defendant to resort to behaviour that "can only be described as luring" the sex worker to commit offences upon.

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Defence lawyer Elizabeth West in arguing for bail said that Mr Emberton had no prior criminal history, that there had been no suggestions of him intending to contact or intimidate the complainant, and that he worked long hours as a truck driver and thereby had no financial issues.

Ms West also proposed that her client not procure or try to procure sexual services, which she said would address the risk of endangering the complainant and "provide protection to other adult service workers"

"He is hoping to engage in counselling in mental health if released on bail," she said.

Magistrate Louise Taylor refused bail, saying the alleged offending was "violent and planned conduct" that seemed to be motivated by more than money, which she questioned in light of his earnings from his employment.

Ms Taylor said the allegations showed "a desire to control and degrade women" and that the likelihood of further charges was unsurprising.

The magistrate acknowledged the absence of a criminal history but said "at this stage, the statement of [alleged] facts reflects a strong prosecution case for very serious offending".

"A strong prosecution case by virtue not only of the allegations but significantly strengthened by the admission the defendant himself made when interviewed by police," she said.

Mr Emberton is remanded in custody and set to face court again on April 21.

He was seen with his head in his hands upon hearing that bail was refused.

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