After about five years of being pulled around on our walks, we finally found a harness that works well with our dogs. It is called the Sporn Non Pulling Harness. They sell several types of harnesses, but we have the mesh non-pulling ones. It seems to give with the dogs movement, so they are not feeling like they are being restrained. At least that is our belief on how it works. We use these harnesses daily and it makes our walks much more enjoyable for us and them.
Below is a video on the non pulling harness from the Sporn website.