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That DOES look like the game I remember!It "could" match Sigma Harmonics, but it's japanese only.
I don't think you would see it on TV.
Though, it's a jRPG with turn based battles, and in 3D, and the DS is held side-way.
I'll post again if I find something else.
Alessa says that's definitely it, except the Japanese text in the screenshot on the left was in English.