To a degree, yes. There were claims for a while that Pernkopf Anatomy, which was one of only two major anatomy textbooks for a lengthy period of time (the other was Grey Anatomy), gained much of its information from human experimentation carried out by the Nazis. These claims have been proved false, but the name of Pernkopf Anatomy was certainly tainted by the claims. If you google it, some of the top results are about the validity of the text's sources.
The most useful thing discovered by the experiments was the best treatment for hypothermia and frostbite, which involved slowly bringing the victim back to the proper temperature and rubbing the limbs to restore blood flow and minimize the need for amputations. Also, I believe that there were tests carried out which tested resistance to water and air pressure that were adopted into policies for people in submarines. Sorry about all of the ambiguity and lack of sources. It's my first post and I'm already toeing the line of subreddit rules. I had to do some light research into the subject for a college paper and this is what I can remember.
hi! fyi, there's some info on this in the FAQ (link on sidebar)