Gesture controlled robotic arm
What you are really asking is whether you can determine human arm position by inertial navigation from gyro and accelerometer data.

The answer is yes, but only for a few seconds until the errors get so large that the result is unusable.  Position is the second integral of acceleration.  Any offset error in a acceleration value becomes a linearly increasing error in velocity, which becomes a position error that grows with the square of time.

I once worked on a device to track your head movements during a golf swing.  It worked well enough for the length of a swing, but the data got useless fast after a couple of seconds or so.