Really? We could certainly come up with stories of great innovation being done by uncomfortably poor people, but I bet if we came up with a list of 100 innovators, at least 80 of them would be from middle-class-plus homes and could almost surely have gotten any number of comfortable-enough jobs doing something un-innovative.
(Edit: which isn't at all to say that non-poor people are more innovative. Just that people who aren't in poverty are far more likely to have the chance for their innovativeness to have a broad public impact.)