A new three degree-of-freedom (3DOF) torque feedback wrist is being developed to be added to an existing 3DOF force feedback haptic device. It is difficult to find a satisfactory solution to the mechanical design problem, mainly because of the required large rotational workspace and severe weight constraints. This work proposes an alternative design strategy based on user perception, which allows simplification of the mechanics. The proposed approach consists of substituting the last rotational DOF of the wrist with a pseudohaptic DOF. Thanks to specially designed visuotactile cues, the pseudohaptic DOF is integrated with the active DOF into the same device, being able to generate free motion and collision detection perception to the user. This approach provides for simpler kinematics, lightweight designs, lower inertias, and less friction, which are key advantages for the inclusion of torque feedback into force feedback devices.