This is a bit of shameless self-promotion, so apologies if it’s in poor taste, or in the wrong category, but it seems like something that would interest the folks here.
I just released the first version of an iOS MIDI controller app that uses 3D Touch to calculate velocity and polyphonic pressure messages. The app sports a configurable grid, with customizable rows, columns, and intervals between them, settable MIDI outputs for x, y, and z axes, and a basic built-in synth for instant gratification when you download it. It also supports MPE, and will work on older phones and iPad as well (albeit without the pressure or velocity outputs – but MPE still works nicely with pitch bend and modulation even without pressure)
I did decide to charge some money for it, though only $0.99 until I ship the next version with a few more features.
I’m also happy to answer any questions about the app here, and would of course welcome any feedback or feature requests 
Update – aaaand a video: