Records in the mid-late Kamakura suggest that each landed lord brought around four to six mounted warriors, each with one or two followers on foot, though they went as low as the landed lord bringing only himself (mounted) to close to 20 mounted and double that on foot.

In the Sengoku, Akechi Mitsuhide wrote in 1581:

...
Bring 6 men to muster for every 100 koku. Approximation is fine.
Between 100 and 150 koku: 1 armour, 1 horse, 1 sashimono, 1 yari
Between 150 koku and 200 koku: 1 armour, 1 horse, 1 sashimono, 2 yari
Between 200 koku and 300 koku: 1 armour, 1 horse, 2 sashimono, 2 yari
Between 300 koku and 400 koku: 1 armour, 1 horse, 3 sashimono, 3 yari, 1 flag, 1 gun
Between 400 koku and 500 koku: 1 armour, 1 horse, 4 sashimono, 4 yari, 1 flag, 1 gun
Between 500 koku and 600 koku: 2 armours, 2 horses, 5 sashimono, 5 yari, 1 flag, 2 guns
Between 600 koku and 700 koku: 2 armours, 2 horses, 6 sashimono, 6 yari, 1 flag, 3 guns
Between 700 koku and 800 koku: 3 armours, 3 horses, 7 sashimono, 7 yari, 1 flag, 3 guns
Between 800 koku and 900 koku: 4 armours, 4 horses, 8 sashimono, 8 yari, 1 flag, 4 guns
Those with 1000 koku: 5 armour, 5 horse, 10 sashimono, 10 yari, 1 flag, 5 gun. One mounted man can count for two.
...

It's probably safe to assume all mounted were samurai, but it's hard to tell how many among the rest were. But that at least tell you how many men, and how many of each type of equipment, was supposed to be present at muster per 100 koku.

When Okamoto Hachirōzaemon, a Hōjō samurai, reported for duty in 1571, he reported the following group

...
Arrival List

• From the 59 kanmon of the eastern gun of Sagami Province Yoshioka
  Arrived
  1 Carrier of flags large and small, armor, leather [kasa](https://en.wikipedia.org/wiki/Kasa_(hat))
  1 Carrier of square sashimono, same
  2 Yari, 2 ken [about 3.5~4m] middle sized, armored the same
  1 mounted, self, with big-crested helmet, armor, mask, gauntlet, metal horse armour
  2 foot, armored, leather kasa
  Above seven men

• From Odawara men paid from the granary [men paid by stipend instead of landed]
  5 kanmon foot samurai, crested helmet, armor, gauntlet
  2 kan 400 mon two fuchi - one yari [1 samurai, 1 servant] Takemasa Saemonnojō
  7 kan 400 mon two of the same Suzuki Hanemon
  7 kan 400 mon two of the same Sugiyama Sōjirō
  7 kan 400 mon two of the same Ōniwa Yashichirō
  Above 29 kan 600 mon. Of this 20 mon as payment, 9 kan 600 mon for 8 fuchi.

Above total 15 men.
...

From this we can see two types of samurai. Okamoto Hachirōzaemon had land with an income of 59 kanmon (or kan). From that he mobilized himself, mounted, and 6 others. He received 8 people from Odawara, four samurai on foot who were not landed but instead were paid a stipend. They were each paid 5 kan, plus rice or money for buying rice of 2 kan 400 mon, half of which was for an armed servant.

In total, this group had 5 samurai (1 mounted, 4 foot) and 10 servants, for a ratio of 1:2. However, it's actually 1 samurai with 6 servants, plus 4 with 1 servant each. The kanmon to koku ratio varies wildly, but what Okamoto Hachirōzaemon brought from his land and what Akechi Mitsuhide ordered is probably about the same ratio in terms of number of men. The required military mobilization in the Edo seemed to have been half or less of that, though the Bakufu or clan also added and paid for however many fuchi necessary for the job assigned.

The Kōyō Gunkan estimate that on average a samurai of the Takeda clan would have between 3 to 5 servants, not counting the warriors directly under Shingen and the Takeda family (confusingly called "Ashigaru", the Hōjō seemed to have used the term the same way).