A theoretical investigation of radio-frequency (RF) current drive via helicity injection in low aspect ratio tokamaks is carried out. A current-carrying cylindrical plasma surrounded by a helical sheet-current antenna and situated inside a perfectly conducting shell is considered. Toroidal features of low-aspect-ratio tokamaks are simulated by incorporating the following effects: (i) arbitrarily small aspect ratio, R(0)/a = 1/epsilon; (ii) strongly sheared equilibrium magnetic field; and (iii) relatively large poloidal component of the equilibrium magnetic field. This study concentrates on the Alfven continuum, i.e. the case in which the wave frequency satisfies the condition {omega(Alf)(r)}(min) less than or equal to omega less than or equal to {omega(Alf)(r)}(max), where omega(Alf)(r) = omega(Alf) [n(r), B-0(r)] is an eigenfrequency of the shear Alfven wave (SAW). Thus, using low-beta magnetohydrodynamics, the wave equation with correct boundary (matching) conditions is solved, the RF field components are found, and subsequently current drive, power deposition and efficiency are computed. The results of our investigation clearly demonstrate the possibility of generation of RF-driven currents via helicity injection by Alfven waves in low-aspect-ratio tokamaks, in the SAW mode. A special algorithm is developed that enables one to select the antenna parameters providing optimal current drive efficiency.