Hmmmmm, play that doesn't leave bruises. I guess it all depends on what kind of activities you're into. You could do kinky stuff around humiliation, service, mind-games, etc. that could be hella kinky but not bruise-forming. But if you want to receive pain and/or he wants to give it, let's see, spanking usually doesn't bruise? Clothespins on nipples? Caning on the feet (bastinado)? E-stim?
It's good your husband realizes that this is his issue to get over. After all, vanilla sex that's vigorous can leave all sorts of marks too in the form of hickies, bites, and scratches, so by asking you to come home unmarked he's basically asking you two not to get too into it, which is pretty unfair.
Me, 30ish bi female, been doing solo poly for roughly 5 years. Gia, Clay, and Pike, my partners. Davis, ex/friend/"it's complicated." Eric, Gia's husband. Bee, Gia and Eric's toddler.