Helicopter and autogyro rotor blades are usually parallel, not twisted like a propeller blade.
With the helicopter, air moves downwards, through the power driven, forward tilted rotor, as a reaction to the generated lift. At any point in time only a short section of a non-twisted blade is actively generating lift. That working section moves continuously throughout the rotation. The lift area of the rotor is much less than the full rotor disk. The part not generating lift generates drag.
With an autogyro, air moves up through the free-wheeling rotor as the autogyro is pushed through the air by a separate propeller. Part of the blade is a turbine that drives the rotation, another part is an active lift generating section, the remainder is drag.
In order to generate a maximum lift to drag ratio, a twisted blade could be used. The problem then is that when flying horizontally, the lift will move to one side due to the apparent airspeed over the rotor surface being the sum of the vehicle airspeed and the rotor rotation.
Straight blades are inefficient but they are stable. The first human powered helicopter will have twisted blades and will hover only. Further advances will be a compromise between available excess energy and faster horizontal flight.
The energy needed to stay in the air is less if you don't want to go anywhere.