Relevant Ability: Dexterity
The ability to escape restraints and grips of opponents, or squeeze through tight spaces.
Grappler: You can make an Escape Artist check in place of a combat maneuver check to escape a grapple or to change from a pinned condition to merely grappled.
Check: Depends on the skill and material used to tie up the character.
Action: Making an Escape Artist check to escape from rope bindings, manacles, or other restraints (except a grappler) requires 1 minute of work.