Just try to do it quickly within a few seconds. There are actually several chemical effects going on. Some are short term, some are longer term. Heavy continuous load will deplete available source of needed chemical reactions locally near the electrodes dropping the voltage more and there is a time delay equilibrium that is established. When load is removed the longer term equilibrium will replenish and some of the appearent capacity will recover. The longer term effects raise the total battery Rs over the short term current pulsed Rs.
A more complete model of a battery is a number of R-C time constants in series. First order is just the contact and surface resistance which is measured on a quick pulsed load. Higher order chemical effects have longer time constants. Different battery chemistries have different longer term time constants. NiCad's are pretty short, Zinc-Air batteries are very long.
You may have noticed this effect on a hard starting auto. A long cranking will eventually run down the battery (and raise the Rs). Allow the battery to sit for a minute or two and it will again turn over the engine starter.
You may think of it as blotting a paper towel against a sponge saturated with water. Tapping the surface of the sponge with the paper towel will deplete the surface of the sponge of water. Leave it alone for a few seconds and the interior saturated with water will migrate out to sponge surface, replenishing it. Eventually all the available water within the sponge will be blotted out, exhausting the water charge within the sponge.