The driver, Lee Jane, died following the incident at Derriford Hospital, when his 18 tonne Telehoist skiploader vehicle rolled down a slope and into a building.
He was pronounced dead at the scene.
HSE has carried out an investigation into the incident and will prosecute the company on two charges of breaches of the Health and Safety at Work etc Act 1974, and two of the Management of Health and Safety at Work Regulations 1999.
Hearing
A preliminary hearing is due to take place at Plymouth Magistrates Court on Wednesday 7 June.
Commenting on the case, a spokesman for Viridor, said: “The death of our colleague Lee Jane in June 2015 was a tragedy and our thoughts continue to be with his family and friends at their devastating loss.
“Since the incident we have been co-operating fully with the relevant authorities and continue to do so. We take our health and safety responsibilities very seriously.
“It would be inappropriate to comment further at this stage.”
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