I think the main problem with the companies is return of investment. Engineers are expensive . . . You probably just didnt offer enough $$
So if I was to tackle the problem, I would try two different methods (both of them).
First, I would run a stress analysis simulation on a computer model. Developing the model will be difficult . . . you will need to know things such as the material properties of the lobster - for example, the elastic modulus, hardness, etc. This will require what is called a DMA - dynamic material analysis. I believe there are companies/universities that will do this for you if you supply them with samples.
Then plug those values into your computer simulation.
This is an example of a computational stress analysis I ran on my robot:http://www.societyofrobots.com/robotforum/index.php?topic=1218.msg8215#msg8215
The second method would be to build an actual model. Probably the best way to do this is with 3D rapid prototyping. You will need to make your own computer model, then send the files to a company to print it. Will probably cost ~$200.
This might help you some:http://www.societyofrobots.com/robotforum/index.php?topic=461.0
You should embed force sensors into your printed model:http://www.societyofrobots.com/sensors_forcetorque.shtml
hope this helps some . . .