Hölder maps under Pfaffian constraints

Given a one form $\lambda$ in $\mathbb{R}^N$ and $f: \mathbb{S}^{n} \to \mathbb{R}^N$ with $f^\ast \lambda = 0$ we discuss the maximal H\"older regularity of extensions $F: \mathbb{B}^{n+1} \to \mathbb{R}^N$ such that $F^\ast\lambda = 0$ in distributional sense. Our analysis applies to the Heisenberg groups $\mathbb{H}_n$. It implies in particular that for all $n \geq 1$ any smooth horizontal map $f: \mathbb{S}^{n} \to \mathbb{H}_n$ can be extended to a $C^\alpha$-map $F: \mathbb{B}^{n+1} \to \mathbb{H}_n$ for some $\alpha > 1/2$. Moreover, if $n \geq 3$ we find $C^\alpha$-embeddings from $\mathbb{B}^{n+1}$ into $\mathbb{H}_n$ for some $\alpha > \frac{1}{2}$.