I've played around with the Android app Sensors2OSC [1] and was trying to just map the senors to a virtual model of a phone. I was able to get the axis individually mostly behaving correctly, but as soon as the phone moves around in more than one way, it is doing weird things. I started to wonder if it is only my phone though.
At https://github.com/mxa/GemVR the patch ReceiveSensors2OSC.pd has everything ready to map the senor data to the Gem model.
I'd be curious to see if it is possible to let it behave correctly.