The first approach to the problem
The body is made up of modules which allow the overall motion of body, while (possibily) preserving their self-sufficiency and separation in the structure.
The bottom and top modules are identical and, together, allow a -30 +60 degrees inclination of the body.
The middle module is not self sufficient or separated from the top and bottom modules, but relies on their structure to anchor its driver element.
The second approach
This is a overall view of E-2,bending back, normal position, and bending forth.
A bit of perspective
This time we have a "possible" solution, since both mechanisms involved in bending the neck are defined and comprised of components we are already familiar with.
detail of the back and forth bending module and lateral bending module
detail of the back and forth bending module