diff --git a/Sofa/framework/Helper/CMakeLists.txt b/Sofa/framework/Helper/CMakeLists.txt
index 8d0eaa5b603..c35b5b41344 100644
--- a/Sofa/framework/Helper/CMakeLists.txt
+++ b/Sofa/framework/Helper/CMakeLists.txt
@@ -55,8 +55,10 @@ set(HEADER_FILES
     ${SRC_ROOT}/init.h
     ${SRC_ROOT}/integer_id.h
     ${SRC_ROOT}/accessor/ReadAccessor.h
+    ${SRC_ROOT}/accessor/ReadAccessorFixedArray.h
     ${SRC_ROOT}/accessor/ReadAccessorVector.h
     ${SRC_ROOT}/accessor/WriteAccessor.h
+    ${SRC_ROOT}/accessor/WriteAccessorFixedArray.h
     ${SRC_ROOT}/accessor/WriteAccessorVector.h
     ${SRC_ROOT}/accessor/WriteOnlyAccessor.h
     ${SRC_ROOT}/io/BaseFileAccess.h
diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h
index 2b0c5b44a1b..624990800b3 100644
--- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h
+++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h
@@ -21,7 +21,9 @@
 ******************************************************************************/
 #pragma once
 
+#include <sofa/helper/accessor/ReadAccessorFixedArray.h>
 #include <sofa/helper/accessor/ReadAccessorVector.h>
+#include <sofa/type/trait/is_fixed_array.h>
 
 namespace sofa::helper
 {
@@ -70,6 +72,16 @@ class ReadAccessor
     const_reference operator* () const { return  *vref; }
 };
 
+template<class FixedArrayLikeType>
+class ReadAccessor<FixedArrayLikeType, std::enable_if_t<sofa::type::trait::is_fixed_array<FixedArrayLikeType>::value>>
+    : public ReadAccessorFixedArray< FixedArrayLikeType >
+{
+public:
+    typedef ReadAccessorFixedArray< FixedArrayLikeType > Inherit;
+    typedef typename Inherit::container_type container_type;
+    ReadAccessor(const container_type& c) : Inherit(c) {}
+};
+
 template<class VectorLikeType>
 class ReadAccessor<VectorLikeType,
                    std::enable_if_t<sofa::type::trait::is_vector<VectorLikeType>::value> >
diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h
new file mode 100644
index 00000000000..62e493e45eb
--- /dev/null
+++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h
@@ -0,0 +1,65 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/type/trait/is_fixed_array.h>
+#include <iosfwd>
+
+namespace sofa::helper
+{
+////////////////////////// ReadAccessor for wrapping around fixed array like object //////////////////////
+/// ReadAccessor implementation class for fixed array types
+template<class T>
+class ReadAccessorFixedArray
+{
+public:
+    typedef T container_type;
+    typedef const T const_container_type;
+    typedef typename container_type::size_type size_type;
+    typedef typename container_type::value_type value_type;
+    typedef typename container_type::reference reference;
+    typedef typename container_type::const_reference const_reference;
+    typedef typename container_type::iterator iterator;
+    typedef typename container_type::const_iterator const_iterator;
+    
+protected:
+    const container_type* vref;
+    
+public:
+    ReadAccessorFixedArray(const container_type& container) : vref(&container) {}
+    
+    bool empty() const { return false; }
+    size_type size() const { return T::static_size; }
+    const_reference operator[](size_type i) const { return (*vref)[i]; }
+    
+    const_iterator begin() const { return vref->begin(); }
+    const_iterator end() const { return vref->end(); }
+    
+    ///////// Access the container for reading ////////////////
+    operator const_container_type& () const { return  *vref; }
+    const_container_type* operator->() const { return vref; }
+    const_container_type& operator* () const { return  *vref; }
+    const_container_type& ref() const { return *vref; }          ///< this duplicate operator* (remove ?)
+    ///////////////////////////////////////////////////////////
+};
+
+}
diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h
index e9691c28bbe..e1abe8b7442 100644
--- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h
+++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h
@@ -21,7 +21,9 @@
 ******************************************************************************/
 #pragma once
 
+#include <sofa/helper/accessor/WriteAccessorFixedArray.h>
 #include <sofa/helper/accessor/WriteAccessorVector.h>
+#include <sofa/type/trait/is_fixed_array.h>
 
 namespace sofa::helper
 {
@@ -81,6 +83,16 @@ class WriteAccessor
     }
 };
 
+template<class FixedArrayLikeType>
+class WriteAccessor<FixedArrayLikeType, std::enable_if_t<sofa::type::trait::is_fixed_array<FixedArrayLikeType>::value>>
+    : public WriteAccessorFixedArray< FixedArrayLikeType >
+{
+public:
+    typedef WriteAccessorFixedArray< FixedArrayLikeType > Inherit;
+    typedef typename Inherit::container_type container_type;
+    WriteAccessor(container_type& c) : Inherit(c) {}
+};
+
 template<class VectorLikeType>
 class WriteAccessor<VectorLikeType,
                     std::enable_if_t<sofa::type::trait::is_vector<VectorLikeType>::value>>
diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h
new file mode 100644
index 00000000000..0953e07da48
--- /dev/null
+++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h
@@ -0,0 +1,87 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/helper/config.h>
+
+namespace sofa::helper
+{
+
+/// WriteAccessor implementation class for fixed array types
+template<class T>
+class WriteAccessorFixedArray
+{
+public:
+    typedef T container_type;
+    typedef const T const_container_type;
+    typedef typename container_type::size_type size_type;
+    typedef typename container_type::value_type value_type;
+    typedef typename container_type::reference reference;
+    typedef typename container_type::const_reference const_reference;
+    typedef typename container_type::iterator iterator;
+    typedef typename container_type::const_iterator const_iterator;
+
+protected:
+    container_type* vref;
+
+public:
+    WriteAccessorFixedArray(container_type& container) : vref(&container) {}
+
+    ////// Capacity //////
+    bool empty() const { return false; }
+    size_type size() const { return T::static_size; }
+
+    ////// Element access //////
+    reference operator[](size_type pos) { return (*vref)[pos]; }
+    const_reference operator[](size_type pos) const { return (*vref)[pos]; }
+
+    reference front() { return vref->front(); }
+    const_reference front() const { return vref->front(); }
+
+    reference back() { return vref->back(); }
+    const_reference back() const { return vref->back(); }
+
+
+    ////// Iterators //////
+    const_iterator begin() const { return vref->begin(); }
+    iterator begin() { return vref->begin(); }
+    const_iterator end() const { return vref->end(); }
+    iterator end() { return vref->end(); }
+    
+    ////// Access the container in reading & writing //////
+    operator  container_type () { return  *vref; }
+    container_type* operator->() { return vref; }
+    container_type& operator* () { return  *vref; }
+    container_type& wref() { return *vref; }
+    ///////////////////////////////////////////////////////
+
+    ///////// Access the container for reading ////////////////
+    operator  const_container_type () const { return  *vref; }
+    const_container_type* operator->() const { return vref; }
+    const_container_type& operator* () const { return  *vref; }
+
+    /// this one duplicate operator*
+    const container_type& ref() const { return *vref; }
+    ///////////////////////////////////////////////////////////
+};
+
+}