Normally, a consultant is not expected to 'work' in the 'field'. What is the role assigned to this consultant?
A consultant is not an employee (and that is why you are deducting 10% TDS, probably under section 194J for professional charges). If these consultants have to visit dealers regularly, report to any reporting officer, and take approval from the employer for any absence from work, then they are employees. Whatever name they are called, their legal status will not change. If you are just calling them consultants to avoid payment of PF, Bonus, or gratuity, you are mistaken. You will have to pay all these benefits to a consultant working in the field just like an employee. Moreover, if they fall under tax brackets, it should be under section 192, treating them like employees, and payments to them as salaries and allowances, with TDS made and remitted accordingly.
Being an employee, they should be given social security coverage as mandated by law. If their salary is not more than Rs 21,000, they would be covered by ESI, and no other insurance is required. If their remuneration exceeds Rs 21,000, they should be covered by accidental policies to meet the requirements of the Employees Compensation Act. If other employees of the company, who are out of ESI coverage, receive more beneficial insurance coverage, then that should be extended to your consultant as well.
At the same time, if the person is a genuine consultant by all means, not working regularly but contacted when needed for advice and guidance, then they are not an employee, and no benefits other than professional fees should be given. Accordingly, they need not be provided with any insurance from the company.