Yes - but when you get specific - then logic doesn't always follow. An example:
My mother is in her nineties. She has a history of falling. Not at speed but if there is a doorway or a table her head was likely to find it. She was falling up to three times a day and be hospitalised monthly. Stitches or sterastrips to the head, arms and legs quite normal. There was a high and real probability of a fatal fall.
This is not an uncommon scenario amongst her peers and of great concern to both the social and medical facilities. There was no shortage of people trying to be helpful and providing safety solutions. These never included a helmet or protective clothing. To be honest I don't think anyone ever considered it let alone test the evidence that it may save a life. But if I had taken her out restrained in bike trailer without a helmet I think both the social services and medical people might have raised more than an eyebrow.
Its just an example of cyclist (must wear helmet), pedestrian (don't be silly) classifications of both risk and suitable de-risking not based on any rational analysis. And if you try and be objective you start hitting brick walls with or without a helmet.
Nope, sorry, still ridiculous. Your mother is awake for what 16 hours a day? Maybe more if she is elderly. You cannot expect anyone to wear a helmet for that period of time (unless your buzz aldrin).
A cycling commute on average takes what? Less than an hour? Hardly a big ask to wear a helmet for an hour a day.
Also you mother doesn't travel around her kitchen at 20 miles an hour does she?
I'm not saying a helmet will save your life if you fall off at 20mph but it will offer your head SOME protection, could save you a nasty cut or concussion.
It's all about balance mate, you can't expect someone to wear a helmet every waking minute of everyday. That's just crass suggesting it.
However it is not a big ask to wear one while cycling.