It's a really hard problem, and even current Tasers are only "less lethal" like every other vaguely effective alternative I'm aware of. So, yeah, there's R&D,

It's a really hard problem, and even current Tasers are only "less lethal" like every other vaguely effective alternative I'm aware of. So, yeah, there's R&D, but sometimes nature just isn't cooperative. I'll note that in the up to 2.5 million times a year a gun is used in the US for self-defense (as of some years ago), more than 90% of the time it isn't fired (or hits, but I think it was fired), but the user indeed needs to be willing to fire it if the simple threat of lethal force is not sufficient.