Thank God for this oh so scientific study!!! That restaurant's grand "experiment" proves two things... jack and shit.
That being said, I think some of their guesses might have some credence.
The best system I have seen is what you see in most of Europe. Servers are paid REAL wages and that gets factored into pricing. It really doesn't increase prices drastically and you can still tip if you want to but it isn't at all expected. Most of what I saw was that people would leave a portion of their change as "tip." And when I say change I mean low value coins. The first time that I left what I considered a regular tip, the waiter chased me down to give me back the money I must have forgotten on the table. Of course after I explained that it was a tip I was treated to exceptional service at that spot from then on out.
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