There is a little hole in each plastic base of the metal bars. You need a very small screwdriver or Allen key to insert into the holes while pulling up on the headrest and it will come off.
You can use a screwdriver from an eyeglass repair kit, or you can use an office paper clip bent open so you can stick one end in the tiny hole. Be sure to use a 'strong' paper clip...some paper clips are cheap rip offs and break when you try to open them up and bend them to shape.
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