How about eating in restaurants and patronizing other businesses that have abolished tipping in favor of paying staff better and charging the extra that that costs? I'd rather pay what something costs than deal with hidden costs or deceptive pricing. Maybe the inevitably higher price tags would highlight the fact that eating out is indeed a luxury.
I live in Japan, where no tipping is expected in the service industry, but gifts and the like are expected in certain business situations, on house visits, etc. Until retailers were required to display pre-tax prices with the consumption tax hike a couple years ago, it was very refreshing to always pay what the price tag said, and only that, pretty much everywhere. Prices at restaurants here seem high, particularly for dinner and drinks, but factor in the lack of tips and it's a wash at worst (and cheaper here at best).