All of the examples are very context related, and usually, the common speaker would use the present simple for both of them:
He always helps others.
She always works hard.
You can use the present progressive for repeating action in the present to emphasize that that action is annoying or absurd.
For the first example, I can imagine a situation where you and your friends are in a hurry to somewhere, and suddenly you friends stops to help some stranger. out of anger, you say
"God, why does he have to do it every time? He's always helping others!"
As for the present perfect one, you can use it if you really (but really) want to stress the fact that the action started in the past, but also continues into the present. be careful about it, as most actions hold in the present, and you use it to really stress that fact.
So I can imagine someone sitting with his mother and talking about his brother. his mother tells how he used to help her when he was young, and how he helps others in his job as a doctor (vet/lawyer/etc.) you agree with her saying
"yeah, He's always helped others."
I would also have to say that from my observations, north-American speakers (from the States/Canada) usually choose to use the perfect progressive tense instead of the perfect simple one for activities (even if they don't happen in the moment of speech). so it's not unlikely for the common American/Canadian to say
"He's always been helping others. "
Again, the most "neutral" or "context-unrelated" tense for these two (or any action which happens generally in the present) is the present simple tense.