The answer is in the part that says "it can be useful to have typed links that are independent of their serialisation, especially when a resource has representations in multiple formats".

In HTTP, URLs locate a 'resource'. Then you and the server do content negotiation, implicit and/or explicit, to select a 'resource representation'. Think of these as different formats for the same conceptual thing identified by the URL. Some formats like HTML can support hypermedia that can have embedded links. Some, like 'text/plain' or 'image/gif', can't.

Link headers allow links from the current resource to other resources to be communicated even if the chosen representation can't communicate links in its body.