You can create a custom decorator that declares the positional-only arguments, returning a wrapper that parses its own *args, **kwargs such that they fit the signature of the decorated function. Due to possible name clashes between positional-only and keyword arguments, it is not possible to use keyword-argument-packing (**) for this approach (this is the only limitation). Packed keyword arguments need to be declared either as the last positional-or-keyword parameter or as the first keyword-only parameter. Here are two examples:
def foo(a, b, kwargs):  # last positional-or-keyword parameter
    pass
def foo(a, *args, kwargs):  # first keyword-only parameter
    pass
The variable kwargs will receive the remaining **kwargs from the wrapper function, i.e. it can be used similarly as if **kwargs had been used in the decorated function directly (like in Python 3.8+).
The following implementation of the decorator is largely based on the implementation of inspect.Signature.bind with a few minor tweaks to handle positional-only parameters via the decorator-declared names and to handle the additional (artificial) kwargs parameter.
import functools
import inspect
import itertools
def positional_only(*names, kwargs_name='kwargs'):
    def decorator(func):
        signature = inspect.signature(func)
        @functools.wraps(func)
        def wrapper(*args, **kwargs):
            new_args = []
            new_kwargs = {}            
            parameters = iter(signature.parameters.values())
            parameters_ex = ()
            arg_vals = iter(args)
            while True:
                try:
                    arg_val = next(arg_vals)
                except StopIteration:
                    try:
                        param = next(parameters)
                    except StopIteration:
                        break
                    else:
                        if param.name == kwargs_name or param.kind == inspect.Parameter.VAR_POSITIONAL:
                            break
                        elif param.name in kwargs:
                            if param.name in names:
                                msg = '{arg!r} parameter is positional only, but was passed as a keyword'
                                msg = msg.format(arg=param.name)
                                raise TypeError(msg) from None
                            parameters_ex = (param,)
                            break
                        elif param.default is not inspect.Parameter.empty:
                            parameters_ex = (param,)
                            break
                        else:
                            msg = 'missing a required argument: {arg!r}'
                            msg = msg.format(arg=param.name)
                            raise TypeError(msg) from None
                else:
                    try:
                        param = next(parameters)
                    except StopIteration:
                        raise TypeError('too many positional arguments') from None
                    else:
                        if param.name == kwargs_name or param.kind == inspect.Parameter.KEYWORD_ONLY:
                            raise TypeError('too many positional arguments') from None
                        if param.kind == inspect.Parameter.VAR_POSITIONAL:
                            new_args.append(arg_val)
                            new_args.extend(arg_vals)
                            break
                        if param.name in kwargs and param.name not in names:
                            raise TypeError(
                                'multiple values for argument {arg!r}'.format(
                                    arg=param.name)) from None
                        new_args.append(arg_val)
            for param in itertools.chain(parameters_ex, parameters):
                if param.name == kwargs_name or param.kind == inspect.Parameter.VAR_POSITIONAL:
                    continue
                try:
                    arg_val = kwargs.pop(param.name)
                except KeyError:
                    if (param.kind != inspect.Parameter.VAR_POSITIONAL
                            and param.default is inspect.Parameter.empty):
                        raise TypeError(
                            'missing a required argument: {arg!r}'.format(
                                arg=param.name)) from None
                else:
                    if param.name in names:
                        raise TypeError(
                            '{arg!r} parameter is positional only, '
                            'but was passed as a keyword'.format(arg=param.name))
                    new_kwargs[param.name] = arg_val
            new_kwargs.update(kwargs=kwargs)
            return func(*new_args, **new_kwargs)
        return wrapper
    return decorator
Here is an example of how it can be used:
@positional_only('a')
def foo(a, *args, kwargs, b=9, c):
    print(a, args, b, c, kwargs)
foo(1, **dict(a=2), c=3)  # ok
foo(1, 2, 3, 4, 5, c=6)  # ok
foo(1, b=2, **dict(a=3), c=4)  # ok
foo(a=1, c=2)  # error
foo(c=1)  # error