Mindstorms kit is well prepared for extensions. Additional elements are sold by LEGO and other companies.
You can also prepare extensions by yourself.
LEGO publiced the whole documentation and source code of NXT Brick operation system.
Rich source of knowledge about Mindstorms kit extentions: LEGO Power Functions
Available elements:
NXT Prototype Board is a kit to build own sensors for NXT Mindstorms. It can be used as interface for connection between NXT and other devices.
Go to: lego byte code