Hello, I can see a way to do that, but it isn't that easy!! You have to scan you paper to PDF, if you can't do that you have to convert JPG to PDF on some drawer software, after get a PDF you are able to use some suites that convert quickly PDF to DWG...
You can have a 15 days free try on that link or find others like that.
PDF to DWG Converter, Convert pdf to dwg Accurately & Quickly
OBS: After convert you have to scale your drawings... probably!!!
I tip to do that is... Get a measure line as reference, and do line above the reference line with the length that should be. Than use Scale command "SC" on selected Draw (pick a place), choose for Reference pressing "R", and ENTER. Now you have to pick the reference line and bring that on the same scale of the line you did.
I hope that helps...