Let me preface what i'm going to write with the statement that I think you are probably doing the right thing for you and your kids.

Having said that...from the view point of a bipolar person if my SO presented me with a contract of stipulations that he would then ask me to sign I would be livid.

I'm pretty self aware and aware of the feelings of others but I would feel pressured and as if I was being treated like a child. It would make me feel a little worthless and fully untrustworthy.

I might sign it but I would probably then make decisions based not on the contract but on what made me feel comfortable and safe in my own skin. Like, if I'm not comfortable in a support group, even if someone else thought it was the best thing for me, I wouldn't go. Sorry but I'm not going to sit and be uncomfortable for an hour and possibly harm myself psychologically by putting that sort of pressure on myself.

I would however substitute it with some kind of supportive therapy that I was comfortable with.
Even if I loved that person if I do something that is not right for me but may be right for you then I am the one who ends up screwed in the end, anxious, broken, and possibly in a hospital somewhere because I had been pushed too far.

I write all of this to say that what is the right thing for you and the kids may not be the right thing for your husband at this, or any, point in time. Perhaps that means that you can't live in the same house or that your marriage may not work but that's something that you both need to have a serious and long discussion about IMHO.