Marital sex problems

How do I explain to my husband what good sex is supposed to be like?

He wants me to be like a porn star and wants it dirty and rough.. And well I'm not a porn star and when it's rough, I bleed.

We literally never have sex unless I get on his case about it and when we do, it's one position in and out.. Bam Bam thank you ma'am.

He spoke to his counselor about it bc I've really been pushing the issue. She told him he needs to compromise. (I tried to tell him that, but he didn't want to listen.) She gave him exercises for us to work on which I think will be really helpful.

He came home from counseling last night and we started talking more about it. All he ever says is that our sex is boring. But he talks like it is my fault, while we are having sex he refuses to change positions and he is basically emotionless. I tried to explain to him that having sex is more than just penetration. I have had good sex with previous partners in the past, I know what good sex is like, I truly feel like it is him not me and I am trying to teach him what it should be like.

How do I explain this to him?

Please note: my husband and I have a fabulous relationship other than in bed. He is a fantastic man and does so much for me in other ways, he is 100% not gay and he is 100% not cheating. I am NOT interested in others opinions on our marriage, just help with our sex life!