Head to the Frist Art Museum’s upper-level galleries, and you’ll come face-to-face with a 500-year-old knight in shining armor. OK, so it’s not an actual knight. The armor, however, is the real deal.

The St. Louis presentation of the Worcester Art Museum-organized exhibition features arms, armor, and artworks that tell the story of armor from antiquity to today. There, tucked into a series of ...