Can I restore Batman's health out of combat?
Solution 1:
You can restore it with anything that gives you experience, including things such as collecting Riddler trophies or completing side quests. You can also heal by dieing or reloading your game, but those will put you back to your last save point, and you'll lose anything you did afterwards. Personally, I find the easiest way to be just silently taking out a lone guard.