Sergeant Jan Kingshott and civilian detention officers Simon Tansley and Michael Marsden are also charged with misconduct in a public office, and gross negligence following the death of Thomas Orchard.
Mr Orchard, who was 32 and suffered from schizophrenia, had been arrested for a public order offence in October 2012 and was detained at Heavitree Road police station.
The defendants will go on trial before a High Court Judge on 12 January next year.
Hundreds sign petition calling for village zebra crossing
Calls for Starcross crossing
Car parking fees to go up on Dartmoor
There will be a 20p increase for 24 hours.
Tens of millions to be invested in Devon's buses
Local leaders will decided how money is spent
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Chaotic tribute act to renowned series
Lib Dems hold Exmouth seat in by-election
Fran McElhone wins the Halsdon seat
Paignton YMCA moves into former Mormon chapel
Our new home is absolutely ideal'
