I found the way to refresh the URL so the new URL gets the new page name on it. Go to your task flow and add
<redirect/>
inside the view tags that you want their URL's to be refreshed.
<view id="help_id">
<page>/help.jspx</page>
<redirect/>
</view>
This is what the Jdev help says about the redirect tag:
Redirect: Choose true if the ADF controller should issue an HTTP redirect for a view activity request. The redirected request creates a new browser URL for the view activity. The original view URL is no longer used.