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The Dexter NXT Wifi Sensor is just that - a sensor. So essentially, you will need to write your own proxy as ipso said, along with a corresponding program on the NXT that will read the "sensor" messages (i.e. whatever custom messages you send over Wifi), and react to control the motors/send back sensors. There is currently no way to connect directly to the NXT's immediate command API connection, as the USB and Bluetooth do.

However, if you're in java already ... there is the Android NXT-Bluetooth SDK.

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