Cell movement on a substrate or within the extracellular matrix is the phenomenological response to a biochemical signals' cascade transcripted into biophysical processes and viceversa. The process is complex in nature, including different length scales from the whole cell to organelle and protein levels, where substrate/ECM curvature has been shown to play an important role on cell's behavior. From a macroscopic perspective, the cytoskeleton may be modeled as a continuum body unbalanced by internal protein motors. In this work, we propose a cell constitutive model to simulate cell attachment on curved substrates, activated by contractile forces. We first analyze a single fiber bundle composed by microtubules, actin filaments and myosin machinery. Then, the model is macroscopically extended to the cytoskeletal level using homogenization. Substrate curvature has two implications in our model: (i) it forces fibers to work in a curved (bent) position and (ii) it eventually creates a pre-deformation state in the cytoskeleton. Interestingly, the model shows higher contractile force inhibition as curvature increases when implemented over different substrate morphologies, being this consistent with experimental results. The presented model may result useful in many new regenerative medicine techniques, miniaturized experimental tests, or to analyze cell behavior on manufactured nanoscaffolds for tissue engineering.