Although the Zeo sleep manager in it's current form is not designed as a Lucid aid (it has been requested!), it has some alarms that allow you to wake at more amenable times.
The idea is that it tracks your brainwave activity and the alarm clock can wake you during light sleep or REM, not in deep sleep where you wake up feeling really groggy.

The problem with the alarm clock is that it uses the standard phone alarm clock (the app just accesses the phone clock), which means you have to turn it off.
That's ok if you want to set it to wake you for wbtb, but not to induce WILD by waking during REM.

However, I have found that you can use this "smartwake" (tm) feature but set a "turn it off if unattended" timer to zero, and it will vibrate the phone just once - no alarm sound, but doesn't carry on like a normal alrm. If trying to use it to buzz me awake during REM.

I'll report back on how it goes!