Is it possible to get my perantel rights back?

Hey my name is joseph when I was 18 years old I singed my rights over to the parents of the mother of my son landon because I could not provide the things that a child needs in life at the time I thought it was 4 the best interest of the child so I did what I thought was right I have a steady job and a good home all I was wondering is there a way to possible regain my rights back or some type of custady or vistation?