Does the soleus muscle cross over two joints?

Yes, the soleus muscle crosses over two joints: the knee and the ankle. It originates from the head of the fibula and the medial border of the tibia, and inserts into the calcaneus. The soleus muscle is responsible for plantar flexion of the foot, which is the downward movement of the foot at the ankle joint. It also assists in knee flexion, which is the bending of the knee joint.