Did he help you when you were pregnant and needed assistance? If not, you might just have a yahoo on your hands. But, if he is helpful at other times, it could be that he's just clueless. Sometimes guys are that way. If you don't spell it out for them ahead of time, they just don't get it. And, sometimes we women have a habit of hinting instead of telling. (Don't know if you are guilty of that, but I sure have been!)
You might try having a conversation with him explaining EXACTLY what you need. Make a list TOGETHER of all the things you need help with. Hopefully he's just a little dense and once you spell it out for him, he'll get a clue.
If he tends not to want to help at other times as well, you should probably decide ahead of time which activities you can make do on. For example, you could sit on the floor to dry off your daughter, but you can't exactly sit while making dinner.
Do you have crutches? Get a pair to be a visual reminder to him!
So sorry you aren't getting the help you need.