Borderlands, in my opinion have a really good balance with the whole health bar system,
They have a health bar and, through equipment, a regeneration shield.
And the health packs are not "just" laying around waiting to be picked up, sure you can be lucky to find one or two in a containing, but they are occasional dropped by enemies you kill.
So Borderlands has a non regeneration health bar, but occasionally dropped health packs, but a regeneration shield through equipment, therefore the strength of the shield also various after your equipment.
A really good combination and they've made it work great!