Yes, last year I was at a Red Robin (in Hershey PA) that had a Ziosk terminal on each table. Our orders were immediately visible on the screen. When we were ready to leave, we only had to swipe a credit card, enter the tip amount, and we were good to go. There was a green light on the terminal signaling the waitress that we paid.
http://photos.pennlive.com/patriot-news/2013/08/ziosk_termin...