Today I had a play with TouchOSC on my Android phone http://hexler.net/software/touchosc-android (it's also available for iPad/iPhone http://hexler.net/software/touchosc).
By installing the OSCbridge software to my laptop, it's a snap to then control Pangolin (or any other software supporting MIDI). In fact, Beyond supports OSC natively, but I have not tested that.
Simply select the virtual OSCbridge MIDI device and configure the functions you wish via the learn functions just as you would with any physical MIDI controller.
Drop me a PM if you need help getting this to work for you.