This app was mentioned in 4 comments, with an average of 1.50 upvotes
I know TouchOSC can work on some pretty old hardware. The author's site says it only needs Android 1.6 or later, so you should be good. :)
I've used the iPad version of this touchOSC and its fairly easy to install and very cool in use. The Android version looks a bit stripped down tough https://play.google.com/store/apps/details?id=net.hexler.touchosc_a
This looks pretty good as well, but I haven't tried this one https://play.google.com/store/apps/details?id=de.humatic.tdaw
I'm sure you could cook that up with TouchOSC!