I know in Lair The motion controls work better than using the analogue, the main problem was the gestures for do a 180 and thrust forward were often confused by the motion detection, causing the opposite effect of what you wanted - because to thrust the controller forward you might pull it back to be able to do that and get the wrong thing read, and vice verse. The problem with motion controls is that it requires you to 'sit-up' to play and i don't always want to do that.
Also, I'm surprised no one seems to have mentioned the Bowling game on PSN, that game is all about its six-axis controls, it's a lot like a wii game.
Folklore was done well. If sixaxis was a mistake, it all depends on what it cost to implement, like someone mentioned, if it was very cheap then it only adds to the experience, it doesn't take away.