Here is a tiny smart motion sensor for your wearables, robots, and gesture recognition needs. WonderSense has a TDK InvenSence 9-axis IMU sensor with max 300Hz sampling rate. It is Bluetooth enabled and runs for 10 hours on battery.
The WonderSense sensor node has a SDK for iOS, Android, and C# support. You will be able to see acceleration, gyro, magnetism, rotation and other data points on your phone.