Can I go back to school for engineering if I have degrees in a different field?

I've been working in the mental health field for about four years and am strongly considering a career shift from this to robotics. However, all of my degrees are in non-science fields (B.A. in Psychology and Music, M.Ed. In Counseling). What is the likelihood of my being able to make this change, especially regarding education? Would an engineering bachelor's program accept a returning student with irrelevant degrees?