some Men are quite insensitive towards women feelings and normally they are quite puzzled with our thoughts.
my hubby is just like yours. they dont do "manual work" . but this cannot rule that they dont't love you and baby
they might be thinking, since i have a helper, she can help to ease yr burden, why should i do. if i really upsets you because he is not taking the initiative, why not just pass him the towel and say "hey, why not you learn how to sponge clean the baby today?"
Somtimes, i believe if we take the initiative to ask or hint them, we will get what we want easier and we will feel better. do not feel frustrated, you are feeling down now because you are tired and you need love and support from yr hubby, if he dont make his move, ask for it:-)