The helicity of a particle is positive ("right-handed") if the direction of its spin is the same as the direction of its motion. It is negative ("left-handed") if the directions of spin and motion are opposite. So a standard clock, with its spin vector defined by the rotation of its hands, has left-handed helicity if tossed with its face directed forwards.
Mathematically, helicity is the sign of the projection of the spin vector onto the momentum vector: "left" is negative, "right" is positive.
The chirality of a particle is more abstract: It is determined by whether the particle transforms in a right- or left-handed representation of the Poincaré group.
For massless particles – photons, gluons, and (hypothetical) gravitons – chirality is the same as helicity; a given massless particle appears to spin in the same direction along its axis of motion regardless of point of view of the observer.
For massive particles – such as electrons, quarks, and neutrinos – chirality and helicity must be distinguished: In the case of these particles, it is possible for an observer to change to a reference frame moving faster than the spinning particle, in which case the particle will then appear to move backwards, and its helicity (which may be thought of as "apparent chirality") will be reversed. That is, helicity is a constant of motion, but it is not Lorentz invariant. Chirality is Lorentz invariant, but is not a constant of motion: a massive left-handed spinor, when propagating, will evolve into a right handed spinor over time, and vice versa.
A massless particle moves with the speed of light, so no real observer (who must always travel at less than the speed of light) can be in any reference frame where the particle appears to reverse its relative direction of spin, meaning that all real observers see the same helicity. Because of this, the direction of spin of massless particles is not affected by a change of inertial reference frame (a Lorentz boost) in the direction of motion of the particle, and the sign of the projection (helicity) is fixed for all reference frames: The helicity of massless particles is a relativistic invariant (a quantity whose value is the same in all inertial reference frames) which always matches the massless particle's chirality.
The discovery of neutrino oscillation implies that neutrinos have mass, so the photon is the only confirmed massless particle; gluons are expected to also be massless, although this has not been conclusively tested. Hence, these are the only two particles now known for which helicity could be identical to chirality, and only the photon has been confirmed by measurement. All other observed particles have mass and thus may have different helicities in different reference frames.