Can I connect my Nikon D90 with Samsung grand duos (running Android Jellybean 4.1.2), using HELICON software remote?
If you take a look at the Helicon remote website it makes it pretty clear: http://www.heliconsoft.com/heliconsoft-products/helicon-remote/
It is compatible with the Nikon D90 and Android 3.1+. It sounds like you have both. It should be compatible.
Note, you do need Helicon Focus Premium license for usage with phones.