There are two ways to get this trophy.
The first is to physically collect every single orb in the game, these are hidden throughout various different locations and unlocked by completing different challenges.
The second way, will be familiar to any of those who have used this method to win this trophy on Jak II on the PS3.
What you will need to do is find any challenge throughout the city where you are tasked to locate and collect a golden orb (worth 3 normal orbs) within an allotted time window.
Race to where the orb is located, but DON'T pick it up.
What you will need to do is jump twice so that you are above the orb, pausing the game very quickly. Once paused, restart the challenge under the pause menu. When the game begins to restart the challenge, you will fall onto the orb, and will hear the usual sound that you hear when collecting orbs.
Now be prepared to do this a few times in a row, being careful not to collect the orb before pausing the game, as this will stop you from being able to do that challenge again.
Which challenge to do is down to personal preference, but once you find one that you are good at, your orbs will start to grow quite quickly before finally unlocking the trophy.