Martha is a beautifully underrated gem! 
My husband was dead set on our daughters name too and at first I was uncertain but now I love it and it couldn’t be more perfect for her and it was also so special that he got to pick it out!
If Lucy / Helen don’t feel right how about alternative forms of those names like
Martha Elaine
Martha Lucille
or names with similar meaning
Martha Phoebe
Martha Soleil (so-lay)
since women commonly change their last names having a middle that starts with the same sound as their birth name could be a sweet honor in that way too