If I were a server and worked my hardest to provide you with excellent service and then only received a 10% tip from you here in the U.S., I would feel extremely insulted.
This is a nice scenario you've outlined, but hardly one with a concept of a waiter's reality. It's quite common for service staff to receive 10%. Even zero tips are a regular occurance. A good server doesn't let the actions of one customer affect their mood through the rest of the shift (lest it ruins the remaining day). I'd hardly expect a server to be insulted over a 10% tip.
A good server makes a great percentage on sales as a whole, despite any low percentage tips. Low and zero tips are part of the job.