A wearable assistive device may perform a control operation to protect a drive system in a state in which it is supported on an adaptive assistive and/or rehabilitation device. The wearable assistive device may include an actuated hip joint providing a first assistive force depending on a height of the wearable assistive device and an actuated joint to generate a second assistive force. It may be possible to control the wearable assistive device in a way that prevents collisions or sudden impacts with the ground.