According to ''Advanced Grammar In Use" by M.Hewings, the following rule is given:
After some verbs we cannot include an object before a to-infinitive:
He threatened to report their behaviour to the principal.
(NOT He threatened THEM to report their behaviour...)
Can we say:
(a) He proposed US to go to the theatre (Verb + object + to-infinitive).
(b) Sobir promised HIS MOTHER to be at home early (Verb + object + to-infinitive).