El Mahdi
Muad'Dib of the Anauroch
If you mean by abuse "hurting a person", well sort of - it just wouldn't be abuse any longer (as there's consent). . .
. . .That's of course a bit simplified... but the core idea is the same.
Hurting a person, with consent, limited to just pain, probably legal. Hurting a person, even with consent, that results in real physical harm, probably not.
In other words, hot wax, with consent, probably legal.
Electrocution or cutting in a manner that could potentially, or does, adversely affect or endanger the recipient, probably not.
But laws vary from place to place.