I did do some digging into the wireless code on elph130, see
http://chdk.setepontos.com/index.php?topic=10724.0When connected to a PC, the camera acts as a PTP/IP device, and "pairs" using UPnP. If you can get an app that understand PTP/IP and UPnP, you should be able to pair it with the camera like a PC and presumably transfer whatever files you want. I have no idea if such apps exist, but it seems like they should. The Canon mobile app uses some different protocol.
I'm confident that (on the cameras of the elph130 generation at least) there isn't any hidden FTP or HTTP server that allows you to download files.
edit:
If you have rooted your device it's possible that you could get some normal linux UPnP and PTP/IP stuff working.