A wearable neck brace uses, for example, only three actuators but provides natural motion of the head and neck. This is achieved despite the fact that the head has six degrees of freedom including 3 translation and 3 rotation. In embodiments, a wearable neck brace actively controls the head of the wearer responsively to commands from a user interface such as an eye tracking input device. In further embodiments, a force-field is generated by actuators to provide assistance and/or training for weak muscles. Spring compensation may be provided for a passive support with flexibility. Encoders may be provided to generate treatment logs to support analysis of a patient's condition or progress or to provide therapy-facilitating (or athletic training-facilitating) feedback to the user.