I'm sorry to say that rushing through the process so that you fail to obtain legal counsel or to fully understand the transaction is not a viable defense to paying on the debts, and it's certainly not fraud. If I understand you correctly, you signed the contracts and accepted the money from the lender. Accordingly, the lender is entitled to be repaid per the terms of the contract.
That said, if you can't pay and the lender's only alternative is to foreclose, then it's possible that the lender may agree to modify the terms of the loan. This assumes that the lender would prefer not to foreclose. This is most often the case when the property is "underwater" (i.e., the property is worth less than the total debt). The reason the lender may be willing to modify the loans under that circumstance is because the lender will take a loss if it forecloses and sells the property for less than the debt. So you may have that small amount of leverage.
But in general you cannot remove consensual liens under the circumstances that you suggest. A judge would tell you that you should have simply refused to sign the contracts until you obtained legal counsel or otherwise learned the meaning of what you were agreeing to do.
I am truly sorry that my answer is bad news for you, but please understand that it would be unfair to you (and unprofessional of me) to provide you with anything less than an honest response. However, if your concerns were not satisfactorily addressed, then please let me know, and I will be happy to clarify my answer.
Also, despite the bad news, I would certainly appreciate it if you remember to provide a positive rating via the stars, as it is the only way that I'll get credit for answering your question(s). Thank you. :)