Edward Ndung’u Kamau was also charged with sexually assaulting the woman at the Millennium Petrol Station.
He however pleaded not guilty and his case will be heard starting Wednesday.
It is alleged that Ndung’u together with two other suspects who were charged initially robbed the woman of two mobile phones, a bottle of perfume, a clutch bag and Sh10,000 in cash.
The occurrence captured on camera elicited public outcry following reports that police had taken too long to arrest all the culprits.
A matatu driver and tout accused of taking part in the sexual assault of the woman were charged in December last year.
They however pleaded not guilty to two counts of robbery with violence and sexual assault. The robbery charge carries a maximum death penalty.
Ndungu’s case will be consolidated with the previous one during the hearing.
The incident came after a similar one where touts operating on the Embassava SACCO stripped naked another woman for dressing indecently.
Following this, women in Nairobi staged a protest dubbed ‘My Dress My Choice,” to demonstrate against the inhuman acts.