Re: Preventing wrist injury
Far be it for me to criticize someone else's playing style, but yours is definitely a source of concern. I used to do that too when I was starting out for the same reason as you did.
Eventually someone drilled it into my stubborn teenage head that good picking technique is the key to good guitar playing. This includes rhythm, speed, phrasing, tone (surprise! It's not just about gear!), and yes, hand health and injury prevention.
So, my advice to you is to practice picking without the pinkie "crutch" until you build up your accuracy. This will not only prevent future injuries, it will also make you a better player on the whole.
The other thing that has worked for me is STRETCHING. I stretch my fingers, hands, and forearms before every rehearsal and gig. This has helped my playing and prevented soreness and injury afterward. Guitar playing is like any physical activity: if you do it for too long without stretching, you risk hurting yourself.