You don't need to get hurt, the summon just needs to observe an act of combat from either party. You can just throw/shoot something at your enemy from range.
Edit:
The easiest workaround would be to use a target spell with low magnitude and high area to make hitting your opponent as easy as possible. At a low mag. a warrior should be okay to cast it.
Does anyone know if it's possible to just put a script on summoned creatures to get them to target enemies on activate? I'm not sure if there a function to get enemies that are in combat.