Designs have been unveiled for a new bridge across the Thames in London – thought to be the first in a major city centre to incorporate the needs of both cyclists and pedestrians.

Four proposals for the bridge, which will link Pimlico with Nine Elms in south London, were shortlisted from 74 initial entries in March in a competition run by Wandsworth Council.

The bridge must be high enough to allow large boats to pass below, but not too steep for pedestrians and cyclists to climb.

The designs must also enable movement by bikes and walkers in both directions at peak times.

The teams in the running are Buro Happold, Bystrup Architecture Design and Engineering and Ove Arup & Partners, who have two shortlisted designs.

Their final proposals include spiralling staircases and snake-like ramps, which will link the bridge to the river bank.

The crossing will support growth in Nine Elms, where new homes and businesses are being created to transform the previously industrial area.

Ravi Govindia, leader of Wandsworth Council, said: “We now have some very exciting and quite spectacular designs on the table. There is still a long way to go but these teams have given us real hope that a solution can be found to the complex challenges involved in creating a new pedestrian and cycle link across this stretch of the river.”

Londoners have been invited to comment on the designs, and feedback will be considered by the competition panel before a winner is named later this year.