If you are trying to access a single system on a subnet that has more than one system on it...
I would put a static route on the end systems that specified to reach the 10.220.1.10 system you need to go through the HP router. Then I would use an access list on the router to ensure it is only routing traffic you intend.
You can't use routing to (easily) do what you want because a router thinks in terms of subnets. It thinks about which subnets it has access to based on network address and mask. If it has an interface on the same network as 10.220.1.10 it is going to think of itself as a viable candidate to rout traffic to any host on that subnet. And that isn't what you want, you just want the one host.
Another thing to keep in mind is that routers don't know what VLANs are. Routers are layer 3. Routers only care about IP addresses. They will reference your VLAN through an IP interface, or a Sub-Interface if you are dealing with a VLAN Trunk.
EDIT
If the HP router is also the default gateway, you don't need to worry about any static routes. Just put an ACL on the interface leading to 10.220.1.10.