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Helium pycnometry is used to measure the skeleton density (helium density!) of a material. I would define apparent density as the bulk density (or tap density) of a material. There are different ways to measure the bulk density such as mercury porosimetry (which, at ambient pressure, cannot penetrate into the meso-macropores), but also knowing the bulk volume and the mass (which is easy if you have pellets, or if a powder, using a measuring cylinder). If you only have access to He pycnometry, and so the He density, you can estimate the pore volume from a N2 isotherm at 77K and roughly calculate the bulk density.

pycnometer technique involves the intrusion of a non-wetting liquid at high pressure into a material through the use of a porosimeter. Porosimetry is an analytical technique used to determine various quantifiable aspects a materials porous nature, such as pore diameter, total proe volume, surface area, bulk density, true density etc. you can read more in the related link