Craig Robins was stabbed and assaulted in his car on Lomax Road on October 30, 2006.
The 27-year-old, who was already paralysed from a car crash before the attack, was left needing round-the-clock care and died in 2019.
Staffordshire Police confirmed that a serving prisoner has been charged with his murder and three Hednesford men have been charged with manslaughter.
Gavin Brown, 36, a prisoner at HMP Lancaster Farm, has been charged with murder.
James Milligan, 41, of Rowley Close, Hednesford; Bernie Peter Smith, 30, also of Rowley Close, Hednesford, and Kyle Neil Smith, 32, of Heath Green, Cannock, have been charged with manslaughter.
All four men appeared before magistrates at the North Staffordshire Justice Centre today and their cases were adjourned until a later date.