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.
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