If one were standing on a body that is part of a binary system such as Pluto/Charon, would the g-forces of the motion of the planet be perceptible by a human?
Assuming you mean, 'could a person feel it?' - then no. To be able to feel the effect of the motion, the system would have to be near break-up (with the surface near the Roche/Tidal limit), which never really happens for binary-planets.
For a planet very near a star, it could be perceptible... but in most cases you'd be burned up (etc) due to the close proximity to the star.