Tiny, the picture you selected shows a perching rider who is using the bit for balance. The last trot picture is showing the rider in a more effective position and the horse becomes less strung out and better able to carry himself in a balanced way. From that position, there is a starting point.
Well, there you go! That could be me, at my BEST form. I def need some lessons!
KS you might benefit from a different saddle. I have not been in a car accident, however if sitting correctly on the fork of a saddle with a too narrow twist, I also lose feeling in my legs. A well fitted saddle for the rider goes a long way. You might also try sitting further towards the pommel. While massage may help, it is likely also that the muscle tissue on your one side has been weakened. Lifting weights and working with a physio and personal trainer might be the best to help you get even. I know my riding and the evenness in my body has improved greatly with general conditioning and with leaps and bounds since I started powerlifting. Weight lifting is a great way to increase coordination, strength, balance, muscle tone, bone density, etc. But clear it with a Dr. And physio first.
We cannot expect our horses to be even if we are not even. We can't expect them to balance and be in self carriage when we rely on the bit to be balanced and cannot be in self carriage ourselves.
And on the subject of PK, tread carefully around that man and his methods. The method you describe is from Baucher, the original proponent of Rolkur. Which as I recall you are usually quick to condemn, tiny. Be very careful manipulating only the head without a leg on, and even more cautious suggesting it to others. Most of the problem with an advanced method like LDR is its use by folks who have no idea what they are doing. They put the cart before the horse, so to speak. Do not focus on the head. With correct training it will come. The horse is only braced in the neck from the rider pulling, nothing more, and pulling more will not fix it. Just because someone took time to write it in a book does not make it a catch all for every situation. Nor useful for most horses.
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I don't think I have spent much energy condemning Rolkur. I don't support it though. Baucher may have been the original proponent of Rolker in his first writings, which tend to be the one's most remembered and quoted. But he later wrote more and rethought things and , if I remember correctly, came to NOT believe in Rolkur. His second book is often overlooked.