Let us talk about Grasp of the undying, it is lackluster and weak and could use an improvement!!
Now i have used this on Gangplank and it seems fairly effective. However i can abuse his ranged attacks to use it.
For any other melee this mastery seems utter shit let me explain why.
You need 4 seconds in combat before it activates, then there happens to be a 4 second cooldown. Now this is all fine and all, but the second you leave combat the buff dissapears and you have to stack allover again. Take note, it takes 1 second to dissapear. So that mean if you are melee and want to proc it you have to walk up to the other guy, by then the stack is gone unless you attack a minion on they to him which often allows the other guy to just hit you in the head for more damage and heal you can possibly get from it.
Right now combat with an enemy champion needs to last 8 seconds to be able to use it twice unless you are ranged then you can use it twice in 4 seconds.
Overal this mastery is pretty useless unless you are a melee ranged champion like Gangplank then its decent, but even then it isnt all that strong. Warlords bloodlust is easily 50x better. Even on tanks it is better to just grab crit chance reds and go warlords bloodlust if you want combat sustain.
I would suggest a few buffs to this mastery.
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Takes 4 seconds to activate. Ok fair enough, but it takes 1 second to go away if you leave combat. My proposal is that it takes 1 second + the amount of seconds you built up to fade away. so if you are in combat for 4 seconds, it would take 5 seconds to go away. Decreasing the incombat stack by 1 for each second out of combat so you would still need to charge up again, but wont lose all stacks instantly in 1 second.
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My first suggestion should already clean up some of its weaknesses. But even with such a small quality of life buff the mastery would still be pretty weak. 3% of your hp every 4 seconds is very little, i would propose that after you are 4 seconds in combat it would activate but after the first activation it would only have a 3 seconds cooldown.
Those are my suggestions, this would make the mastery easier an better usable for tanks and melee champions.