I just noticed this while perusing Jenn Forager's epic metaverse viewer chart: created by an Austrian developer named Kurt Schlager, Mobile Grid Client is a Second Life messaging system app for Android-based cell phones (Motorola Droid, Google Nexus One, etc.) It enables chat and instant messaging from your Android phone into Second Life, along with teleport and region map display. So a bit less robust than TouchLife for the iPhone, but still potentially useful.
I say "potentially", because being an iPhone ideologue, I haven't tried it myself. Anyone who does have an Anroid-based phone want to give the 14 free trial a whirl, and report back here?