Finding a complete mesh-based solution for low-rate wireless personal area networks (LR-WPANs) is still an open issue. To cope with this concern, different competing approaches have emerged in the Wireless Mesh Sensor Networks (WMSNs) field in the last few years. They are usually supported by the IEEE 802.15.4 standard, the most commonly adopted LR-WPAN recommendation for point-to-point topologies. In this work, we review the most relevant and up-to-date WMSN solutions that extend the IEEE 802.15.4 standard to multi-hop mesh networks. To conduct this review, we start by identifying the most significant WMSN requirements (i.e., interoperability, robustness, scalability, mobility or energy-efficiency) that reveal the benefits and shortcomings of each proposal. Then, we re-examine thoroughly the group of proposals following different design guidelines which are usually considered by end-users and developers. Among all of the approaches reviewed, we highlight the IEEE 802.15.5 standard, a recent recommendation that, in its LR-WPAN version, fully satisfies the greatest number of WMSN requirements. As a result, IEEE 802.15.5 can be an appropriate solution for a wide-range of applications, unlike the majority of the remaining solutions reviewed, which are usually designed to solve particular problems, for instance in the home, building and industrial sectors. In this sense, a description of IEEE 802.15.5 is also included, paying special attention to its efficient energy-saving mechanisms. Finally, possible improvements of this recommendation are pointed out in order to offer hints for future research.