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Freema Agyeman is the actor currently playing the role of Martha Jones, the companion to the Tenth Doctor, played by David Tennant, introduced in Smith and Jones.
Freema Agyeman had previously appeared briefly in Army of Ghosts as Adeola Oshodi, a Torchwood Institute employee, who was the cousin of Martha who she plays as the main companion in Series 3 and part of Series 4
Between appearing in series 3 and 4,She appeared as Martha in three episodes of Torchwood and was the third character to crossover between the two shows.