From the utilitarian viewpoint of nineteenth century philosopher Jeremy Bentham, we are doing better. Today in the Western World more people have more pleasure and less pain and live longer with a greater sense of wellbeing than ever before.
I'm not so sure. While there is certainly much to be said for modern medicine, even this benefit has been compensated by an increase in disease. We spend more time working than our medieval counterparts did. We are certainly more free than them, but much of the choices we are given are rather trivial. The only way I could have possibly been happy back then would have been as a monk or priest, but I believe if I were I would have been much happier than I am now.
I used to look towards the future for hope; now I look back to the past for my inspiration. I will always be an incorrigible Star Trek fan; but don't see anything resembling Gene Roddenberry's dream looming in our future. What I see is much closer to Brave New World and it's unfolding before my eyes.