How to move a GameObject (bone) between two other gameobjects (nodes) ?

Hi. I have a problem of moving bones/joints. I am using Kinect and I am receiving the positions of some nodes of my body (http://glitchbeam.blob.core.windows.net/media/2015/05/kinectskeleton-map2.png). So let's say I am checking now the node of shoulderleft and elbowleft and I have two GameObjects that move like them. What I want is to create a joint in unity that is gonna act like the bone or the ligament between those two GameObjects.

I looked for FixedJoints, Hingejoints, configurablejoints but it's not working and it's really hard to work with them. The docs are not helpful also.

I really would like some advise how to move a bone (that can be a capsule for example) between those two GameObjects.