Robotic ankle–foot orthoses (AFO) are often used for gait rehabilitation. Our research focuses on the design and development of a robotic AFO with minimum number of sensor inputs. However, this leads to degradation of gait estimation accuracy. To prevent degradation of accuracy, we compared a few neural network models in order to determine the best network when only two input channels are being used. Further, the EMG signal feature value of average rate of change was used as input. LSTM showed the highest accuracy. However, MLP with a small number of hidden layers showed results similar to LSTM. Moreover, the accuracy for all models, with the exception of LSTM for one subject (SD), increased with the addition of feature value (average rate of change) as input. In conclusion, time-series networks work best with a small number of sensor inputs. However, depending on the optimizer being used, even a simple network can outrun a deep learning network. Furthermore, our results show that applying EMG signal feature value as an input tends to increase the estimation accuracy of the network.