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'which helped us' is correct and usable in written English
You can use it when referring to something that happened in the past, which in turn had a beneficial effect. For example: "We implemented a new strategy last week, which helped us to increase our profits".
Exact(60)
We thank all the anonymous reviewers for their fruitful suggestions and helpful comments, which helped us to significantly improve the manuscript.
We thank the reviewers for their very useful comments, which helped us to improve the paper.
Design-Expert 8.0 was used to analyze the experimental results and build the regression model, which helped us to predict the optimal processing parameters.
There was a whole jugaad industry which helped us reuse everything we had.
"Certainly a hard image, often unpitying, which helped us understand who we really were".
When the recession came we found $80 million in savings, which helped us avert a budget crisis.
Finally, hats off to the creative agency Upstatement, which helped us to be as bold as we were careful.
We worked with real clients, which helped us to prepare for life in the grown-up world".
We then carried out a further investigation which helped us to trace the problem to the freezing process".
"We are in the privileged position of having access to technology and social networking, which helped us immensely in getting the word out," they said via e-mail.
"We promise to favor the countries which helped us, especially in the development of Libya," he said in the rebels' eastern stronghold, Benghazi.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com