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Recuperation represents a body's supernatural (or at least extraordinary) ability to rebound from Afflictions, ranging from Diseases to "never-healing wounds". A fellow with Recuperation can even regrow lost limbs. This happens outside of battle.
Recuperation is not Regeneration, a trait that acts quickly enough to prevent the Afflictions from mattering to begin with. It doesn't restore lost Hit Points, and it doesn't stem Profuse Bleeding. Since units who aren't dead (or Diseased) recover all of their Hit Points after the Army Phase battles, though, Recuperation has its own distinct role: keeping your elite combatants functional on the campaign trail.
Recuperation is rare enough to be a selling point; the Pangaeans have it, the Sacred Knights of Early Ermor have it, and the ubiquitous Earth Serpent Pretender Chassis has it. The "white magic" of structural healing is tenuously a Nature art, but it's incredibly rare; if you really need it for someone, your only sure-fire bet is to have it in your Bless, though having it available at the start of the game doesn't come cheap.
Recuperation is a luxury afforded to living beings. It doesn't work for Undead and the Inanimate, even if you were somehow able to apply it to them. It doesn't work for the old, either; every creature must accept an end.
The following is paraphrased from the Dominions 5 wiki, and might not be perfectly accurate to the current version.
A being with Recuperation recuperates after almost everything else in the turn order, including after units age. It can only remove one affliction per turn/month, and it isn't guaranteed to remove any. If Recuperation fails at fixing an affliction (or if the affliction it would fix isn't present), it moves to try and fix another, in a set order of priority.
The priority is as follows, from highest to lowest:
Note that several of these Affliction types can stack; you can lose more than one eye and more than one arm, for example. Recuperation removes only one instance of these.