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Need advice on finding "low end" SoC with Android support

Colleagues, I'm designing an embedded device with a small display and the idea is to utilize Android for the sake of less effort for writing HMI applications. I've already researched a lot and there is a clustering:

Either there are quite powerful Android supported boards with all kind of stack that a smartphone needs

Or, there are smaller (low cost & low energy) boards but they do not support Android 

The real Android board would be an overkill for my project, so I was hoping if there is some low-end Axx board which still lets AOSP run on it. Some kind of wearable SoC would fit, but the ones I know are only from Qualcomm.