Helicopter flight safety critically depends on pilot awareness of control limits and aircraft state, in particular during challenging flight conditions where traditional visual and auditory feedback may be insufficient or saturated. Integrating haptic technology into flight control systems represents a promising method to improve pilot situational awareness and reduce the risk of exceeding limits. This thesis presents the modeling, parameter estimation, and control design of the Haptic Parallel Actuator (HPA), a haptic feedback electromechanical actuator specifically designed for integration into the Pitch, Roll, Yaw, and Collective command chains of a helicopter fixed flight control assembly. The proposed actuator system provides dual functionality depending on flight mode: in hands-on conditions, it delivers active spring-like force cues that support pilot awareness, assist in adherence to control limits, and enhance overall flight safety; in hands-off conditions (autopilot engaged), it provides mechanical anchoring and precise actuation of the flight control inceptors to execute autonomous flight commands.