How about none? Most of the time, you can write that router-part yourself in 10 lines of code, which results in better control, fewer dependencies and more performent code. See this FAQ for a more detailed answer ;)
However, if you work on a real big enough project, then you should decide based on the features, the community and the extensibility, as well as your gut-feeling with the API. Decide on a per-project base, depending on the project.
By the way, you should definitely also consider security! How secure are the routers, what additional steps do you have to take? See for example the helmet project.