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There isn't anything in FormsCentral forms to restrict access but embedding the form into a page on your own website with restricted access is a decent alternative.
You could embed the form into a website of your own that includes a password or email registration to access that page. This would not make it impossible to fill out the form by directly accessing the forms URL but it would be very difficult to discover and would probably be a good enough solution.
The Embed code is in a sub-tab on the Distribute tab.
Good solution but it doesn't prevent people from filling out the form more than once.
That is true - you might be able to restrict this however since you can include a re-direct URL that redirects the entire browser page, that would require the user to go back to the original page and try to sign in again and your sign in logic could restrict a second sign in with the same email address.
This page has a little more information on Embedded forms: http://forums.adobe.com/docs/DOC-1991