How can I quickly heal in Nier: Automata?

I've started playing NieR: Automata and my unfamiliarity with sword games means I constantly need to pause combat to take health items. Is there a quick-heal button on the controller that I might have missed?

Any tension from combat is evaporated once I pause time to take another restorative item.


There are different ways to recover your health, but if you need it quickly:

Pressing down on the d-pad will allow you to access your quick menu, where you can use a recovery item.