On the Old Ship you will meet Eveline and she will have you watch a VHS. During the VHS you should find some Remote Bombs for the first time, after taking the elevator to "S2". Equip the remote bombs and find an enemy with two arms, rather than a blade arm, keep your distance and allow it to charge at you and grab you. While on the ground you will be prompted to use the remote bomb.
Here is a video guide with English commentary!
Here is a playlist of guides for this game!
https://www.youtube.com/playlist?list=PL-HeW6XkKdUKUtj7CV_kW...