I know raising their prices scare restaurants, but tipping shouldn't be the stop gap between a living wage and not a living wage.  Some restaurants already bundle in a preset 'tip' for groups.  How about we do away with tips and just charge what it really costs and pay people what they should be paid.  As the common customer becomes more tech savy things like yelp will readily tell you if your servers aren't doing a good job.  Leaving a feedback survey with the bill and having a box you can drop it in works to.  "Dave is rude, inattentive and can't seem to get our orders right.  I keep seeing him ignoring everyone and texting on his phone."  Is of more use to the employer than stiffing Dave on the tip.
Also it would lower the server's stress.  Gotta be super friendly and happy or else I can't pay my hydro bill on time.