During combat encounters, the suits of armor will try to carry you away. If Trico is nearby, he will help you and kill the enemy. The trick is to let the weak enemies grab you (brown armor). They die with one hit. The ones in white armor take three hits to kill and will not instantly die. A great farming spot to do this is at the end of the game, on your way up the last tower, where you will have the two largest enemy encounters in the game. Let some enemies grab you near Trico and wait for him to kill them. Then, restart the checkpoint before the battle ends and repeat the process until you get the "Last-Minute Reprieve" trophy. It can also be done over multiple playthroughs, as your progress carries over into New Game+.