Hulse, 31 signed for the Loftus Road club on a permanent basis on deadline day yesterday for an undisclosed fee - teaming up with former Blades boss Neil Warnock.
He was signed for United by Warnock in July 2006 from Leeds United for a fee of £2,200,000 in time for the 2006/07 Premier League season. He scored on his debut in a 1-1 draw with Liverpool but in March 2007 he broke his leg at Chelsea, ending his season and effectively any hopes of surviving the drop.
The Crewe born player made 38 (+15) games for the Bramall Lane club and scored eight goals before being sold to Derby County in July 2008 for £1,750,000.
The Blades are due to play at Pride Park in over a week once the international break has cleared but will not come up against former favourite Rob Hulse.