I am trying to remember a series I read some time ago (probably in the early aughts) about a leper who is transported to another world where he leads an army. In the real world, he cannot feel most of his limbs, but in this new world he suffers no such effects. I don't remember many details, but I believe he is accused of raping a pretty important female character early in the timeline. There were three books.
The Chronicles of Thomas Covenant, the Unbeliever.
From Wikipedia, here's a one-sentence summary of the series:
Early on in the first book:
There are three books in the first trilogy, but it's also followed by a second trilogy, The Second Chronicles of Thomas Covenent, and a tetralogy, The Last Chronicles of Thomas Covenant, making for a total of ten books.